debug test LinModel construction

Author: franckgaga

src/model/linmodel.jl

@@ -153,7 +153,8 @@ Discrete-time linear model with a sample time Ts = 0.5 s and:
 ```
 """
 function LinModel(sys::TransferFunction, Ts::Union{Real,Nothing} = nothing; kwargs...)
-    return LinModel(ss(sys), Ts; kwargs...) # minreal is called later in the constructor
+    sys_min = minreal(ss(sys)) # remove useless states with pole-zero cancellation
+    return LinModel(sys_min, Ts; kwargs...)
 end
 
 
@@ -175,8 +176,8 @@ Discrete-time linear model with a sample time Ts = 0.5 s and:
 ```
 """
 function LinModel(sys::DelayLtiSystem, Ts::Real; kwargs...)
-    # c2d only supports :zoh for DelayLtiSystem
-    return LinModel(c2d(sys, Ts, :zoh), Ts; kwargs...)
+    sys_dis = minreal(c2d(sys, Ts, :zoh)) # c2d only supports :zoh for DelayLtiSystem
+    return LinModel(sys_dis, Ts; kwargs...)
 end
 
 

test/test_sim_model.jl

@@ -57,6 +57,7 @@ Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
 
     linmodel6 = LinModel([delay(4) delay(4)]*sys,Ts,i_d=[3])
     @test linmodel6.nx == 3
+    println(eigvals(linmodel6.A))
     @test sum(eigvals(linmodel6.A) .≈ 0) == 1
 
     linmodel7 = LinModel(

test/test_state_estim.jl

@@ -363,7 +363,7 @@ end
     @test ukf1.x̂ ≈ zeros(4) atol=1e-9
     @test evaloutput(ukf1) ≈ ukf1() ≈ [50, 30]
     @test evaloutput(ukf1, Float64[]) ≈ ukf1(Float64[]) ≈ [50, 30]
-    @test initstate!(ukf1, [10, 50], [50, 30+1]) ≈ zeros(4)
+    @test initstate!(ukf1, [10, 50], [50, 30+1]) ≈ zeros(4) atol=1e-9
     setstate!(ukf1, [1,2,3,4])
     @test ukf1.x̂ ≈ [1,2,3,4]
     for i in 1:1000