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_checkequal ( sld.dt , 0.1);
  18 assert_checkalmostequal (sld.A ,exp(sl.A*0.1));
  19 assert_checkalmostequal (sld.B , sl.A\(sld.A-eye())*sl.B );
  20
  21 assert_checktrue(sld==dscr(zpk(sl),0.1));
  22 assert_checktrue(sld==dscr(ss2tf(sl),0.1));
  23
  24 // Case #2
  25 a=[0.9,0,0.6,-1.4,-4.2;
  26    0.2,0.1,-0.2,0.5,0.6;
  27    -4.3,0,2.2,0,2.4;
  28    -3.7,-0.5,2.4,-0.6,2.7;
  29    6.4,0.1,-4,-0.5,-4];
  30
  31 b=[-0.1,-0.1,0;
  32    0,0,0.1;
  33    -0.1,0.2,-0.1;
  34    0.2,0.2,-0.6;
  35    0.2,-0.1,0.1];
  36
  37 c=[2,7,-2,5,1
  38    0,-1,3,0,2];
  39 d=[1,0,0
  40    0,0,0];
  41
  42 sl=syslin('c',a,b,c,d);
  43 sld=dscr(sl,0.1);
  44 assert_checkequal ( sld.dt , 0.1);
  45 assert_checkalmostequal (sld.A ,expm(sl.A*0.1));
  46 assert_checkalmostequal (sld.B , sl.A\(sld.A-eye())*sl.B);
  47
  48 S=zpk({[],1},{-1,[-2 -3]},[1 1],"c");
  49 assert_checktrue(dscr(zpk2ss(S),0.1)==dscr(S,0.1));
  50