scilab/modules/cacsd/tests/unit_tests/dscr.tst

   1 // =============================================================================
   2 // Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
   3 // Copyright (C) 2008 - INRIA - Serge Steer
   4 // Copyright (C) 2011 - DIGITEO - Michael Baudin
   5 //
   6 //  This file is distributed under the same license as the Scilab package.
   7 // =============================================================================
   8
   9
  10
  11 // Case #1
  12 a=-1/3;
  13 b=1;
  14 c=1;
  15 sl=syslin('c',a,b,c);
  16 sld=dscr(sl,0.1);
  17 assert_checkalmostequal ( sld.dt , 0.1 , %eps );
  18 computed = sld.A;
  19 expected = exp(sl.A*0.1);
  20 assert_checkalmostequal ( computed , expected , %eps );
  21 computed = sld.B;
  22 expected = sl.A\(sld.A-eye())*sl.B;
  23 assert_checkalmostequal ( computed , expected , %eps );
  24
  25 // Case #2
  26 a=[0.9,0,0.6,-1.4,-4.2;
  27    0.2,0.1,-0.2,0.5,0.6;
  28    -4.3,0,2.2,0,2.4;
  29    -3.7,-0.5,2.4,-0.6,2.7;
  30    6.4,0.1,-4,-0.5,-4];
  31
  32 b=[-0.1,-0.1,0;
  33    0,0,0.1;
  34    -0.1,0.2,-0.1;
  35    0.2,0.2,-0.6;
  36    0.2,-0.1,0.1];
  37
  38 c=[2,7,-2,5,1
  39    0,-1,3,0,2];
  40 d=[1,0,0
  41    0,0,0];
  42
  43 sl=syslin('c',a,b,c,d);
  44 sld=dscr(sl,0.1);
  45 assert_checkalmostequal ( sld.dt , 0.1 , %eps );
  46 computed = sld.A;
  47 expected = expm(sl.A*0.1);
  48 assert_checkalmostequal ( computed , expected , %eps );
  49 computed = sld.B;
  50 expected = sl.A\(sld.A-eye())*sl.B;
  51 assert_checkalmostequal ( computed , expected , 1.e3 * %eps );
  52