add test for MIMO extended_gangoffour

JuliaControl · May 17, 2023 · f62c25c · f62c25c
1 parent d39a213
commit f62c25c
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diff --git a/lib/ControlSystemsBase/src/sensitivity_functions.jl b/lib/ControlSystemsBase/src/sensitivity_functions.jl
@@ -148,9 +148,9 @@ T  = G[2, 2]
 
 # For MIMO P
 S  = G[1:P.ny,     1:P.nu]
-PS = G[1:P.ny,     P.nu+1:end]
-CS = G[P.ny+1:end, 1:P.nu]
-T  = G[P.ny+1:end, P.nu+1:end]
+PS = G[1:P.ny,     P.ny+1:end]
+CS = G[P.ny+1:end, 1:P.ny]
+T  = G[P.ny+1:end, P.ny+1:end] # Input complimentary sensitivity function
 ```
 
 The gang of four can be plotted like so

diff --git a/lib/ControlSystemsBase/test/test_connections.jl b/lib/ControlSystemsBase/test/test_connections.jl
@@ -393,6 +393,21 @@ G = extended_gangoffour(P, K, true)
 @test tf(G[2,2]) ≈ tf(-input_comp_sensitivity(P, K))
 
 
+## MIMO
+P = ssrand(3,2,1,proper=false)
+K = ssrand(2,3,1,proper=false)
+G = extended_gangoffour(P, K, false)
+S  = G[1:P.ny,     1:P.nu]
+PS = G[1:P.ny,     P.ny+1:end]
+CS = G[P.ny+1:end, 1:P.ny]
+T  = G[P.ny+1:end, P.ny+1:end]
+
+@test tf(S) ≈ tf(sensitivity(P, K))
+@test tf(CS) ≈ tf(G_CS(P, K))
+@test tf(PS) ≈ tf(G_PS(P, K))
+@test tf(T) ≈ tf(input_comp_sensitivity(P, K))
+
+
 # https://github.com/JuliaControl/ControlSystems.jl/issues/815
 function feedback_ctrl(G, K)
     ny,nu = size(G)