scipy 1.16.2__cp312-cp312-win_arm64.whl

scipy/signal/tests/test_ltisys.py

@@ -0,0 +1,1225 @@
+import warnings
+
+import numpy as np
+from numpy.testing import suppress_warnings
+import pytest
+from pytest import raises as assert_raises
+from scipy._lib._array_api import(
+    assert_almost_equal, xp_assert_equal, xp_assert_close
+)
+
+from scipy.signal import (ss2tf, tf2ss, lti,
+                          dlti, bode, freqresp, lsim, impulse, step,
+                          abcd_normalize, place_poles,
+                          TransferFunction, StateSpace, ZerosPolesGain)
+from scipy.signal._filter_design import BadCoefficients
+import scipy.linalg as linalg
+
+
+def _assert_poles_close(P1,P2, rtol=1e-8, atol=1e-8):
+    """
+    Check each pole in P1 is close to a pole in P2 with a 1e-8
+    relative tolerance or 1e-8 absolute tolerance (useful for zero poles).
+    These tolerances are very strict but the systems tested are known to
+    accept these poles so we should not be far from what is requested.
+    """
+    P2 = P2.copy()
+    for p1 in P1:
+        found = False
+        for p2_idx in range(P2.shape[0]):
+            if np.allclose([np.real(p1), np.imag(p1)],
+                           [np.real(P2[p2_idx]), np.imag(P2[p2_idx])],
+                           rtol, atol):
+                found = True
+                np.delete(P2, p2_idx)
+                break
+        if not found:
+            raise ValueError("Can't find pole " + str(p1) + " in " + str(P2))
+
+
+class TestPlacePoles:
+
+    def _check(self, A, B, P, **kwargs):
+        """
+        Perform the most common tests on the poles computed by place_poles
+        and return the Bunch object for further specific tests
+        """
+        fsf = place_poles(A, B, P, **kwargs)
+        expected, _ = np.linalg.eig(A - np.dot(B, fsf.gain_matrix))
+        _assert_poles_close(expected, fsf.requested_poles)
+        _assert_poles_close(expected, fsf.computed_poles)
+        _assert_poles_close(P,fsf.requested_poles)
+        return fsf
+
+    def test_real(self):
+        # Test real pole placement using KNV and YT0 algorithm and example 1 in
+        # section 4 of the reference publication (see place_poles docstring)
+        A = np.array([1.380, -0.2077, 6.715, -5.676, -0.5814, -4.290, 0,
+                      0.6750, 1.067, 4.273, -6.654, 5.893, 0.0480, 4.273,
+                      1.343, -2.104]).reshape(4, 4)
+        B = np.array([0, 5.679, 1.136, 1.136, 0, 0, -3.146,0]).reshape(4, 2)
+        P = np.array([-0.2, -0.5, -5.0566, -8.6659])
+
+        # Check that both KNV and YT compute correct K matrix
+        self._check(A, B, P, method='KNV0')
+        self._check(A, B, P, method='YT')
+
+        # Try to reach the specific case in _YT_real where two singular
+        # values are almost equal. This is to improve code coverage but I
+        # have no way to be sure this code is really reached
+
+        # on some architectures this can lead to a RuntimeWarning invalid
+        # value in divide (see gh-7590), so suppress it for now
+        with np.errstate(invalid='ignore'):
+            self._check(A, B, (2,2,3,3))
+
+    def test_complex(self):
+        # Test complex pole placement on a linearized car model, taken from L.
+        # Jaulin, Automatique pour la robotique, Cours et Exercices, iSTE
+        # editions p 184/185
+        A = np.array([[0, 7, 0, 0],
+                      [0, 0, 0, 7/3.],
+                      [0, 0, 0, 0],
+                      [0, 0, 0, 0]])
+        B = np.array([[0, 0],
+                      [0, 0],
+                      [1, 0],
+                      [0, 1]])
+        # Test complex poles on YT
+        P = np.array([-3, -1, -2-1j, -2+1j])
+        # on macOS arm64 this can lead to a RuntimeWarning invalid
+        # value in divide, so suppress it for now
+        with np.errstate(divide='ignore', invalid='ignore'):
+            self._check(A, B, P)
+
+        # Try to reach the specific case in _YT_complex where two singular
+        # values are almost equal. This is to improve code coverage but I
+        # have no way to be sure this code is really reached
+
+        P = [0-1e-6j,0+1e-6j,-10,10]
+        with np.errstate(divide='ignore', invalid='ignore'):
+            self._check(A, B, P, maxiter=1000)
+
+        # Try to reach the specific case in _YT_complex where the rank two
+        # update yields two null vectors. This test was found via Monte Carlo.
+
+        A = np.array(
+                    [-2148,-2902, -2267, -598, -1722, -1829, -165, -283, -2546,
+                   -167, -754, -2285, -543, -1700, -584, -2978, -925, -1300,
+                   -1583, -984, -386, -2650, -764, -897, -517, -1598, 2, -1709,
+                   -291, -338, -153, -1804, -1106, -1168, -867, -2297]
+                   ).reshape(6,6)
+
+        B = np.array(
+                    [-108, -374, -524, -1285, -1232, -161, -1204, -672, -637,
+                     -15, -483, -23, -931, -780, -1245, -1129, -1290, -1502,
+                     -952, -1374, -62, -964, -930, -939, -792, -756, -1437,
+                     -491, -1543, -686]
+                     ).reshape(6,5)
+        P = [-25.-29.j, -25.+29.j, 31.-42.j, 31.+42.j, 33.-41.j, 33.+41.j]
+        self._check(A, B, P)
+
+        # Use a lot of poles to go through all cases for update_order
+        # in _YT_loop
+
+        big_A = np.ones((11,11))-np.eye(11)
+        big_B = np.ones((11,10))-np.diag([1]*10,1)[:,1:]
+        big_A[:6,:6] = A
+        big_B[:6,:5] = B
+
+        P = [-10,-20,-30,40,50,60,70,-20-5j,-20+5j,5+3j,5-3j]
+        with np.errstate(divide='ignore', invalid='ignore'):
+            self._check(big_A, big_B, P)
+
+        #check with only complex poles and only real poles
+        P = [-10,-20,-30,-40,-50,-60,-70,-80,-90,-100]
+        self._check(big_A[:-1,:-1], big_B[:-1,:-1], P)
+        P = [-10+10j,-20+20j,-30+30j,-40+40j,-50+50j,
+             -10-10j,-20-20j,-30-30j,-40-40j,-50-50j]
+        self._check(big_A[:-1,:-1], big_B[:-1,:-1], P)
+
+        # need a 5x5 array to ensure YT handles properly when there
+        # is only one real pole and several complex
+        A = np.array([0,7,0,0,0,0,0,7/3.,0,0,0,0,0,0,0,0,
+                      0,0,0,5,0,0,0,0,9]).reshape(5,5)
+        B = np.array([0,0,0,0,1,0,0,1,2,3]).reshape(5,2)
+        P = np.array([-2, -3+1j, -3-1j, -1+1j, -1-1j])
+        with np.errstate(divide='ignore', invalid='ignore'):
+            place_poles(A, B, P)
+
+        # same test with an odd number of real poles > 1
+        # this is another specific case of YT
+        P = np.array([-2, -3, -4, -1+1j, -1-1j])
+        with np.errstate(divide='ignore', invalid='ignore'):
+            self._check(A, B, P)
+
+    def test_tricky_B(self):
+        # check we handle as we should the 1 column B matrices and
+        # n column B matrices (with n such as shape(A)=(n, n))
+        A = np.array([1.380, -0.2077, 6.715, -5.676, -0.5814, -4.290, 0,
+                      0.6750, 1.067, 4.273, -6.654, 5.893, 0.0480, 4.273,
+                      1.343, -2.104]).reshape(4, 4)
+        B = np.array([0, 5.679, 1.136, 1.136, 0, 0, -3.146, 0, 1, 2, 3, 4,
+                      5, 6, 7, 8]).reshape(4, 4)
+
+        # KNV or YT are not called here, it's a specific case with only
+        # one unique solution
+        P = np.array([-0.2, -0.5, -5.0566, -8.6659])
+        fsf = self._check(A, B, P)
+        # rtol and nb_iter should be set to np.nan as the identity can be
+        # used as transfer matrix
+        assert np.isnan(fsf.rtol)
+        assert np.isnan(fsf.nb_iter)
+
+        # check with complex poles too as they trigger a specific case in
+        # the specific case :-)
+        P = np.array((-2+1j,-2-1j,-3,-2))
+        fsf = self._check(A, B, P)
+        assert np.isnan(fsf.rtol)
+        assert np.isnan(fsf.nb_iter)
+
+        #now test with a B matrix with only one column (no optimisation)
+        B = B[:,0].reshape(4,1)
+        P = np.array((-2+1j,-2-1j,-3,-2))
+        fsf = self._check(A, B, P)
+
+        #  we can't optimize anything, check they are set to 0 as expected
+        assert fsf.rtol == 0
+        assert fsf.nb_iter == 0
+
+    @pytest.mark.thread_unsafe
+    def test_errors(self):
+        # Test input mistakes from user
+        A = np.array([0,7,0,0,0,0,0,7/3.,0,0,0,0,0,0,0,0]).reshape(4,4)
+        B = np.array([0,0,0,0,1,0,0,1]).reshape(4,2)
+
+        #should fail as the method keyword is invalid
+        assert_raises(ValueError, place_poles, A, B, (-2.1,-2.2,-2.3,-2.4),
+                      method="foo")
+
+        #should fail as poles are not 1D array
+        assert_raises(ValueError, place_poles, A, B,
+                      np.array((-2.1,-2.2,-2.3,-2.4)).reshape(4,1))
+
+        #should fail as A is not a 2D array
+        assert_raises(ValueError, place_poles, A[:,:,np.newaxis], B,
+                      (-2.1,-2.2,-2.3,-2.4))
+
+        #should fail as B is not a 2D array
+        assert_raises(ValueError, place_poles, A, B[:,:,np.newaxis],
+                      (-2.1,-2.2,-2.3,-2.4))
+
+        #should fail as there are too many poles
+        assert_raises(ValueError, place_poles, A, B, (-2.1,-2.2,-2.3,-2.4,-3))
+
+        #should fail as there are not enough poles
+        assert_raises(ValueError, place_poles, A, B, (-2.1,-2.2,-2.3))
+
+        #should fail as the rtol is greater than 1
+        assert_raises(ValueError, place_poles, A, B, (-2.1,-2.2,-2.3,-2.4),
+                      rtol=42)
+
+        #should fail as maxiter is smaller than 1
+        assert_raises(ValueError, place_poles, A, B, (-2.1,-2.2,-2.3,-2.4),
+                      maxiter=-42)
+
+        # should fail as ndim(B) is two
+        assert_raises(ValueError, place_poles, A, B, (-2,-2,-2,-2))
+
+        # uncontrollable system
+        assert_raises(ValueError, place_poles, np.ones((4,4)),
+                      np.ones((4,2)), (1,2,3,4))
+
+        # Should not raise ValueError as the poles can be placed but should
+        # raise a warning as the convergence is not reached
+        with warnings.catch_warnings(record=True) as w:
+            warnings.simplefilter("always")
+            fsf = place_poles(A, B, (-1,-2,-3,-4), rtol=1e-16, maxiter=42)
+            assert len(w) == 1
+            assert issubclass(w[-1].category, UserWarning)
+            assert ("Convergence was not reached after maxiter iterations"
+                    in str(w[-1].message))
+            assert fsf.nb_iter == 42
+
+        # should fail as a complex misses its conjugate
+        assert_raises(ValueError, place_poles, A, B, (-2+1j,-2-1j,-2+3j,-2))
+
+        # should fail as A is not square
+        assert_raises(ValueError, place_poles, A[:,:3], B, (-2,-3,-4,-5))
+
+        # should fail as B has not the same number of lines as A
+        assert_raises(ValueError, place_poles, A, B[:3,:], (-2,-3,-4,-5))
+
+        # should fail as KNV0 does not support complex poles
+        assert_raises(ValueError, place_poles, A, B,
+                      (-2+1j,-2-1j,-2+3j,-2-3j), method="KNV0")
+
+
+class TestSS2TF:
+
+    def check_matrix_shapes(self, p, q, r):
+        ss2tf(np.zeros((p, p)),
+              np.zeros((p, q)),
+              np.zeros((r, p)),
+              np.zeros((r, q)), 0)
+
+    def test_shapes(self):
+        # Each tuple holds:
+        #   number of states, number of inputs, number of outputs
+        for p, q, r in [(3, 3, 3), (1, 3, 3), (1, 1, 1)]:
+            self.check_matrix_shapes(p, q, r)
+
+    def test_basic(self):
+        # Test a round trip through tf2ss and ss2tf.
+        b = np.array([1.0, 3.0, 5.0])
+        a = np.array([1.0, 2.0, 3.0])
+
+        A, B, C, D = tf2ss(b, a)
+        xp_assert_close(A, [[-2., -3], [1, 0]], rtol=1e-13)
+        xp_assert_close(B, [[1.], [0]], rtol=1e-13)
+        xp_assert_close(C, [[1., 2]], rtol=1e-13)
+        xp_assert_close(D, [[1.]], rtol=1e-14)
+
+        bb, aa = ss2tf(A, B, C, D)
+        xp_assert_close(bb[0], b, rtol=1e-13)
+        xp_assert_close(aa, a, rtol=1e-13)
+
+    def test_zero_order_round_trip(self):
+        # See gh-5760
+        tf = (2, 1)
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[0.]], rtol=1e-13)
+        xp_assert_close(B, [[0.]], rtol=1e-13)
+        xp_assert_close(C, [[0.]], rtol=1e-13)
+        xp_assert_close(D, [[2.]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[2., 0]], rtol=1e-13)
+        xp_assert_close(den, [1., 0], rtol=1e-13)
+
+        tf = ([[5], [2]], 1)
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[0.]], rtol=1e-13)
+        xp_assert_close(B, [[0.]], rtol=1e-13)
+        xp_assert_close(C, [[0.], [0]], rtol=1e-13)
+        xp_assert_close(D, [[5.], [2]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[5., 0], [2, 0]], rtol=1e-13)
+        xp_assert_close(den, [1., 0], rtol=1e-13)
+
+    def test_simo_round_trip(self):
+        # See gh-5753
+        tf = ([[1, 2], [1, 1]], [1, 2])
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[-2.]], rtol=1e-13)
+        xp_assert_close(B, [[1.]], rtol=1e-13)
+        xp_assert_close(C, [[0.], [-1.]], rtol=1e-13)
+        xp_assert_close(D, [[1.], [1.]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[1., 2.], [1., 1.]], rtol=1e-13)
+        xp_assert_close(den, [1., 2.], rtol=1e-13)
+
+        tf = ([[1, 0, 1], [1, 1, 1]], [1, 1, 1])
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[-1., -1.], [1., 0.]], rtol=1e-13)
+        xp_assert_close(B, [[1.], [0.]], rtol=1e-13)
+        xp_assert_close(C, [[-1., 0.], [0., 0.]], rtol=1e-13)
+        xp_assert_close(D, [[1.], [1.]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[1., 0., 1.], [1., 1., 1.]], rtol=1e-13)
+        xp_assert_close(den, [1., 1., 1.], rtol=1e-13)
+
+        tf = ([[1, 2, 3], [1, 2, 3]], [1, 2, 3, 4])
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[-2., -3, -4], [1, 0, 0], [0, 1, 0]], rtol=1e-13)
+        xp_assert_close(B, [[1.], [0], [0]], rtol=1e-13)
+        xp_assert_close(C, [[1., 2, 3], [1, 2, 3]], rtol=1e-13)
+        xp_assert_close(D, [[0.], [0]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[0., 1, 2, 3], [0, 1, 2, 3]], rtol=1e-13)
+        xp_assert_close(den, [1., 2, 3, 4], rtol=1e-13)
+
+        tf = (np.array([1, [2, 3]], dtype=object), [1, 6])
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[-6.]], rtol=1e-31)
+        xp_assert_close(B, [[1.]], rtol=1e-31)
+        xp_assert_close(C, [[1.], [-9]], rtol=1e-31)
+        xp_assert_close(D, [[0.], [2]], rtol=1e-31)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[0., 1], [2, 3]], rtol=1e-13)
+        xp_assert_close(den, [1., 6], rtol=1e-13)
+
+        tf = (np.array([[1, -3], [1, 2, 3]], dtype=object), [1, 6, 5])
+        A, B, C, D = tf2ss(*tf)
+        xp_assert_close(A, [[-6., -5], [1, 0]], rtol=1e-13)
+        xp_assert_close(B, [[1.], [0]], rtol=1e-13)
+        xp_assert_close(C, [[1., -3], [-4, -2]], rtol=1e-13)
+        xp_assert_close(D, [[0.], [1]], rtol=1e-13)
+
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[0., 1, -3], [1, 2, 3]], rtol=1e-13)
+        xp_assert_close(den, [1., 6, 5], rtol=1e-13)
+
+    def test_all_int_arrays(self):
+        A = [[0, 1, 0], [0, 0, 1], [-3, -4, -2]]
+        B = [[0], [0], [1]]
+        C = [[5, 1, 0]]
+        D = [[0]]
+        num, den = ss2tf(A, B, C, D)
+        xp_assert_close(num, [[0.0, 0.0, 1.0, 5.0]], rtol=1e-13, atol=1e-14)
+        xp_assert_close(den, [1.0, 2.0, 4.0, 3.0], rtol=1e-13)
+
+    def test_multioutput(self):
+        # Regression test for gh-2669.
+
+        # 4 states
+        A = np.array([[-1.0, 0.0, 1.0, 0.0],
+                      [-1.0, 0.0, 2.0, 0.0],
+                      [-4.0, 0.0, 3.0, 0.0],
+                      [-8.0, 8.0, 0.0, 4.0]])
+
+        # 1 input
+        B = np.array([[0.3],
+                      [0.0],
+                      [7.0],
+                      [0.0]])
+
+        # 3 outputs
+        C = np.array([[0.0, 1.0, 0.0, 0.0],
+                      [0.0, 0.0, 0.0, 1.0],
+                      [8.0, 8.0, 0.0, 0.0]])
+
+        D = np.array([[0.0],
+                      [0.0],
+                      [1.0]])
+
+        # Get the transfer functions for all the outputs in one call.
+        b_all, a = ss2tf(A, B, C, D)
+
+        # Get the transfer functions for each output separately.
+        b0, a0 = ss2tf(A, B, C[0], D[0])
+        b1, a1 = ss2tf(A, B, C[1], D[1])
+        b2, a2 = ss2tf(A, B, C[2], D[2])
+
+        # Check that we got the same results.
+        xp_assert_close(a0, a, rtol=1e-13)
+        xp_assert_close(a1, a, rtol=1e-13)
+        xp_assert_close(a2, a, rtol=1e-13)
+        xp_assert_close(b_all, np.vstack((b0, b1, b2)), rtol=1e-13, atol=1e-14)
+
+
+class TestLsim:
+    digits_accuracy = 7
+
+    def lti_nowarn(self, *args):
+        with suppress_warnings() as sup:
+            sup.filter(BadCoefficients)
+            system = lti(*args)
+        return system
+
+    def test_first_order(self):
+        # y' = -y
+        # exact solution is y(t) = exp(-t)
+        system = self.lti_nowarn(-1.,1.,1.,0.)
+        t = np.linspace(0,5)
+        u = np.zeros_like(t)
+        tout, y, x = lsim(system, u, t, X0=[1.0])
+        expected_x = np.exp(-tout)
+        assert_almost_equal(x, expected_x)
+        assert_almost_equal(y, expected_x)
+
+    def test_second_order(self):
+        t = np.linspace(0, 10, 1001)
+        u = np.zeros_like(t)
+        # Second order system with a repeated root: x''(t) + 2*x(t) + x(t) = 0.
+        # With initial conditions x(0)=1.0 and x'(t)=0.0, the exact solution
+        # is (1-t)*exp(-t).
+        system = self.lti_nowarn([1.0], [1.0, 2.0, 1.0])
+        tout, y, x = lsim(system, u, t, X0=[1.0, 0.0])
+        expected_x = (1.0 - tout) * np.exp(-tout)
+        assert_almost_equal(x[:, 0], expected_x)
+
+    def test_integrator(self):
+        # integrator: y' = u
+        system = self.lti_nowarn(0., 1., 1., 0.)
+        t = np.linspace(0,5)
+        u = t
+        tout, y, x = lsim(system, u, t)
+        expected_x = 0.5 * tout**2
+        assert_almost_equal(x, expected_x, decimal=self.digits_accuracy)
+        assert_almost_equal(y, expected_x, decimal=self.digits_accuracy)
+
+    def test_two_states(self):
+        # A system with two state variables, two inputs, and one output.
+        A = np.array([[-1.0, 0.0], [0.0, -2.0]])
+        B = np.array([[1.0, 0.0], [0.0, 1.0]])
+        C = np.array([1.0, 0.0])
+        D = np.zeros((1, 2))
+
+        system = self.lti_nowarn(A, B, C, D)
+
+        t = np.linspace(0, 10.0, 21)
+        u = np.zeros((len(t), 2))
+        tout, y, x = lsim(system, U=u, T=t, X0=[1.0, 1.0])
+        expected_y = np.exp(-tout)
+        expected_x0 = np.exp(-tout)
+        expected_x1 = np.exp(-2.0 * tout)
+        assert_almost_equal(y, expected_y)
+        assert_almost_equal(x[:, 0], expected_x0)
+        assert_almost_equal(x[:, 1], expected_x1)
+
+    def test_double_integrator(self):
+        # double integrator: y'' = 2u
+        A = np.array([[0., 1.], [0., 0.]])
+        B = np.array([[0.], [1.]])
+        C = np.array([[2., 0.]])
+        system = self.lti_nowarn(A, B, C, 0.)
+        t = np.linspace(0,5)
+        u = np.ones_like(t)
+        tout, y, x = lsim(system, u, t)
+        expected_x = np.transpose(np.array([0.5 * tout**2, tout]))
+        expected_y = tout**2
+        assert_almost_equal(x, expected_x, decimal=self.digits_accuracy)
+        assert_almost_equal(y, expected_y, decimal=self.digits_accuracy)
+
+    def test_jordan_block(self):
+        # Non-diagonalizable A matrix
+        #   x1' + x1 = x2
+        #   x2' + x2 = u
+        #   y = x1
+        # Exact solution with u = 0 is y(t) = t exp(-t)
+        A = np.array([[-1., 1.], [0., -1.]])
+        B = np.array([[0.], [1.]])
+        C = np.array([[1., 0.]])
+        system = self.lti_nowarn(A, B, C, 0.)
+        t = np.linspace(0,5)
+        u = np.zeros_like(t)
+        tout, y, x = lsim(system, u, t, X0=[0.0, 1.0])
+        expected_y = tout * np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_miso(self):
+        # A system with two state variables, two inputs, and one output.
+        A = np.array([[-1.0, 0.0], [0.0, -2.0]])
+        B = np.array([[1.0, 0.0], [0.0, 1.0]])
+        C = np.array([1.0, 0.0])
+        D = np.zeros((1,2))
+        system = self.lti_nowarn(A, B, C, D)
+
+        t = np.linspace(0, 5.0, 101)
+        u = np.zeros((len(t), 2))
+        tout, y, x = lsim(system, u, t, X0=[1.0, 1.0])
+        expected_y = np.exp(-tout)
+        expected_x0 = np.exp(-tout)
+        expected_x1 = np.exp(-2.0*tout)
+        assert_almost_equal(y, expected_y)
+        assert_almost_equal(x[:,0], expected_x0)
+        assert_almost_equal(x[:,1], expected_x1)
+
+    def test_nonzero_initial_time(self):
+        system = self.lti_nowarn(-1.,1.,1.,0.)
+        t = np.linspace(1,2)
+        u = np.zeros_like(t)
+        tout, y, x = lsim(system, u, t, X0=[1.0])
+        expected_y = np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_nonequal_timesteps(self):
+        t = np.array([0.0, 1.0, 1.0, 3.0])
+        u = np.array([0.0, 0.0, 1.0, 1.0])
+        # Simple integrator: x'(t) = u(t)
+        system = ([1.0], [1.0, 0.0])
+        with assert_raises(ValueError,
+                           match="Time steps are not equally spaced."):
+            tout, y, x = lsim(system, u, t, X0=[1.0])
+
+
+class TestImpulse:
+    def test_first_order(self):
+        # First order system: x'(t) + x(t) = u(t)
+        # Exact impulse response is x(t) = exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = impulse(system)
+        expected_y = np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_fixed_time(self):
+        # Specify the desired time values for the output.
+
+        # First order system: x'(t) + x(t) = u(t)
+        # Exact impulse response is x(t) = exp(-t).
+        system = ([1.0], [1.0,1.0])
+        n = 21
+        t = np.linspace(0, 2.0, n)
+        tout, y = impulse(system, T=t)
+        assert tout.shape == (n,)
+        assert_almost_equal(tout, t)
+        expected_y = np.exp(-t)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_initial(self):
+        # Specify an initial condition as a scalar.
+
+        # First order system: x'(t) + x(t) = u(t), x(0)=3.0
+        # Exact impulse response is x(t) = 4*exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = impulse(system, X0=3.0)
+        expected_y = 4.0 * np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_initial_list(self):
+        # Specify an initial condition as a list.
+
+        # First order system: x'(t) + x(t) = u(t), x(0)=3.0
+        # Exact impulse response is x(t) = 4*exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = impulse(system, X0=[3.0])
+        expected_y = 4.0 * np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_integrator(self):
+        # Simple integrator: x'(t) = u(t)
+        system = ([1.0], [1.0,0.0])
+        tout, y = impulse(system)
+        expected_y = np.ones_like(tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_second_order(self):
+        # Second order system with a repeated root:
+        #     x''(t) + 2*x(t) + x(t) = u(t)
+        # The exact impulse response is t*exp(-t).
+        system = ([1.0], [1.0, 2.0, 1.0])
+        tout, y = impulse(system)
+        expected_y = tout * np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_array_like(self):
+        # Test that function can accept sequences, scalars.
+        system = ([1.0], [1.0, 2.0, 1.0])
+        # TODO: add meaningful test where X0 is a list
+        tout, y = impulse(system, X0=[3], T=[5, 6])
+        tout, y = impulse(system, X0=[3], T=[5])
+
+    def test_array_like2(self):
+        system = ([1.0], [1.0, 2.0, 1.0])
+        tout, y = impulse(system, X0=3, T=5)
+
+
+class TestStep:
+    def test_first_order(self):
+        # First order system: x'(t) + x(t) = u(t)
+        # Exact step response is x(t) = 1 - exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = step(system)
+        expected_y = 1.0 - np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_fixed_time(self):
+        # Specify the desired time values for the output.
+
+        # First order system: x'(t) + x(t) = u(t)
+        # Exact step response is x(t) = 1 - exp(-t).
+        system = ([1.0], [1.0,1.0])
+        n = 21
+        t = np.linspace(0, 2.0, n)
+        tout, y = step(system, T=t)
+        assert tout.shape == (n,)
+        assert_almost_equal(tout, t)
+        expected_y = 1 - np.exp(-t)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_initial(self):
+        # Specify an initial condition as a scalar.
+
+        # First order system: x'(t) + x(t) = u(t), x(0)=3.0
+        # Exact step response is x(t) = 1 + 2*exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = step(system, X0=3.0)
+        expected_y = 1 + 2.0*np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_first_order_initial_list(self):
+        # Specify an initial condition as a list.
+
+        # First order system: x'(t) + x(t) = u(t), x(0)=3.0
+        # Exact step response is x(t) = 1 + 2*exp(-t).
+        system = ([1.0], [1.0,1.0])
+        tout, y = step(system, X0=[3.0])
+        expected_y = 1 + 2.0*np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_integrator(self):
+        # Simple integrator: x'(t) = u(t)
+        # Exact step response is x(t) = t.
+        system = ([1.0],[1.0,0.0])
+        tout, y = step(system)
+        expected_y = tout
+        assert_almost_equal(y, expected_y)
+
+    def test_second_order(self):
+        # Second order system with a repeated root:
+        #     x''(t) + 2*x(t) + x(t) = u(t)
+        # The exact step response is 1 - (1 + t)*exp(-t).
+        system = ([1.0], [1.0, 2.0, 1.0])
+        tout, y = step(system)
+        expected_y = 1 - (1 + tout) * np.exp(-tout)
+        assert_almost_equal(y, expected_y)
+
+    def test_array_like(self):
+        # Test that function can accept sequences, scalars.
+        system = ([1.0], [1.0, 2.0, 1.0])
+        # TODO: add meaningful test where X0 is a list
+        tout, y = step(system, T=[5, 6])
+
+    def test_complex_input(self):
+        # Test that complex input doesn't raise an error.
+        # `step` doesn't seem to have been designed for complex input, but this
+        # works and may be used, so add regression test.  See gh-2654.
+        step(([], [-1], 1+0j))
+
+
+class TestLti:
+    def test_lti_instantiation(self):
+        # Test that lti can be instantiated with sequences, scalars.
+        # See PR-225.
+
+        # TransferFunction
+        s = lti([1], [-1])
+        assert isinstance(s, TransferFunction)
+        assert isinstance(s, lti)
+        assert not isinstance(s, dlti)
+        assert s.dt is None
+
+        # ZerosPolesGain
+        s = lti(np.array([]), np.array([-1]), 1)
+        assert isinstance(s, ZerosPolesGain)
+        assert isinstance(s, lti)
+        assert not isinstance(s, dlti)
+        assert s.dt is None
+
+        # StateSpace
+        s = lti([], [-1], 1)
+        s = lti([1], [-1], 1, 3)
+        assert isinstance(s, StateSpace)
+        assert isinstance(s, lti)
+        assert not isinstance(s, dlti)
+        assert s.dt is None
+
+
+class TestStateSpace:
+    def test_initialization(self):
+        # Check that all initializations work
+        StateSpace(1, 1, 1, 1)
+        StateSpace([1], [2], [3], [4])
+        StateSpace(np.array([[1, 2], [3, 4]]), np.array([[1], [2]]),
+                   np.array([[1, 0]]), np.array([[0]]))
+
+    def test_conversion(self):
+        # Check the conversion functions
+        s = StateSpace(1, 2, 3, 4)
+        assert isinstance(s.to_ss(), StateSpace)
+        assert isinstance(s.to_tf(), TransferFunction)
+        assert isinstance(s.to_zpk(), ZerosPolesGain)
+
+        # Make sure copies work
+        assert StateSpace(s) is not s
+        assert s.to_ss() is not s
+
+    def test_properties(self):
+        # Test setters/getters for cross class properties.
+        # This implicitly tests to_tf() and to_zpk()
+
+        # Getters
+        s = StateSpace(1, 1, 1, 1)
+        xp_assert_equal(s.poles, [1.])
+        xp_assert_equal(s.zeros, [0.])
+        assert s.dt is None
+
+    def test_operators(self):
+        # Test +/-/* operators on systems
+
+        class BadType:
+            pass
+
+        s1 = StateSpace(np.array([[-0.5, 0.7], [0.3, -0.8]]),
+                        np.array([[1], [0]]),
+                        np.array([[1, 0]]),
+                        np.array([[0]]),
+                        )
+
+        s2 = StateSpace(np.array([[-0.2, -0.1], [0.4, -0.1]]),
+                        np.array([[1], [0]]),
+                        np.array([[1, 0]]),
+                        np.array([[0]])
+                        )
+
+        s_discrete = s1.to_discrete(0.1)
+        s2_discrete = s2.to_discrete(0.2)
+        s3_discrete = s2.to_discrete(0.1)
+
+        # Impulse response
+        t = np.linspace(0, 1, 100)
+        u = np.zeros_like(t)
+        u[0] = 1
+
+        # Test multiplication
+        for typ in (int, float, complex, np.float32, np.complex128, np.array):
+            xp_assert_close(lsim(typ(2) * s1, U=u, T=t)[1],
+                            typ(2) * lsim(s1, U=u, T=t)[1])
+
+            xp_assert_close(lsim(s1 * typ(2), U=u, T=t)[1],
+                            lsim(s1, U=u, T=t)[1] * typ(2))
+
+            xp_assert_close(lsim(s1 / typ(2), U=u, T=t)[1],
+                            lsim(s1, U=u, T=t)[1] / typ(2))
+
+            with assert_raises(TypeError):
+                typ(2) / s1
+
+        xp_assert_close(lsim(s1 * 2, U=u, T=t)[1],
+                        lsim(s1, U=2 * u, T=t)[1])
+
+        xp_assert_close(lsim(s1 * s2, U=u, T=t)[1],
+                        lsim(s1, U=lsim(s2, U=u, T=t)[1], T=t)[1],
+                        atol=1e-5)
+
+        with assert_raises(TypeError):
+            s1 / s1
+
+        with assert_raises(TypeError):
+            s1 * s_discrete
+
+        with assert_raises(TypeError):
+            # Check different discretization constants
+            s_discrete * s2_discrete
+
+        with assert_raises(TypeError):
+            s1 * BadType()
+
+        with assert_raises(TypeError):
+            BadType() * s1
+
+        with assert_raises(TypeError):
+            s1 / BadType()
+
+        with assert_raises(TypeError):
+            BadType() / s1
+
+        # Test addition
+        xp_assert_close(lsim(s1 + 2, U=u, T=t)[1],
+                        2 * u + lsim(s1, U=u, T=t)[1])
+
+        # Check for dimension mismatch
+        with assert_raises(ValueError):
+            s1 + np.array([1, 2])
+
+        with assert_raises(ValueError):
+            np.array([1, 2]) + s1
+
+        with assert_raises(TypeError):
+            s1 + s_discrete
+
+        with assert_raises(ValueError):
+            s1 / np.array([[1, 2], [3, 4]])
+
+        with assert_raises(TypeError):
+            # Check different discretization constants
+            s_discrete + s2_discrete
+
+        with assert_raises(TypeError):
+            s1 + BadType()
+
+        with assert_raises(TypeError):
+            BadType() + s1
+
+        xp_assert_close(lsim(s1 + s2, U=u, T=t)[1],
+                        lsim(s1, U=u, T=t)[1] + lsim(s2, U=u, T=t)[1])
+
+        # Test subtraction
+        xp_assert_close(lsim(s1 - 2, U=u, T=t)[1],
+                        -2 * u + lsim(s1, U=u, T=t)[1])
+
+        xp_assert_close(lsim(2 - s1, U=u, T=t)[1],
+                        2 * u + lsim(-s1, U=u, T=t)[1])
+
+        xp_assert_close(lsim(s1 - s2, U=u, T=t)[1],
+                        lsim(s1, U=u, T=t)[1] - lsim(s2, U=u, T=t)[1])
+
+        with assert_raises(TypeError):
+            s1 - BadType()
+
+        with assert_raises(TypeError):
+            BadType() - s1
+
+        s = s_discrete + s3_discrete
+        assert s.dt == 0.1
+
+        s = s_discrete * s3_discrete
+        assert s.dt == 0.1
+
+        s = 3 * s_discrete
+        assert s.dt == 0.1
+
+        s = -s_discrete
+        assert s.dt == 0.1
+
+class TestTransferFunction:
+    def test_initialization(self):
+        # Check that all initializations work
+        TransferFunction(1, 1)
+        TransferFunction([1], [2])
+        TransferFunction(np.array([1]), np.array([2]))
+
+    def test_conversion(self):
+        # Check the conversion functions
+        s = TransferFunction([1, 0], [1, -1])
+        assert isinstance(s.to_ss(), StateSpace)
+        assert isinstance(s.to_tf(), TransferFunction)
+        assert isinstance(s.to_zpk(), ZerosPolesGain)
+
+        # Make sure copies work
+        assert TransferFunction(s) is not s
+        assert s.to_tf() is not s
+
+    def test_properties(self):
+        # Test setters/getters for cross class properties.
+        # This implicitly tests to_ss() and to_zpk()
+
+        # Getters
+        s = TransferFunction([1, 0], [1, -1])
+        xp_assert_equal(s.poles, [1.])
+        xp_assert_equal(s.zeros, [0.])
+
+
+class TestZerosPolesGain:
+    def test_initialization(self):
+        # Check that all initializations work
+        ZerosPolesGain(1, 1, 1)
+        ZerosPolesGain([1], [2], 1)
+        ZerosPolesGain(np.array([1]), np.array([2]), 1)
+
+    def test_conversion(self):
+        #Check the conversion functions
+        s = ZerosPolesGain(1, 2, 3)
+        assert isinstance(s.to_ss(), StateSpace)
+        assert isinstance(s.to_tf(), TransferFunction)
+        assert isinstance(s.to_zpk(), ZerosPolesGain)
+
+        # Make sure copies work
+        assert ZerosPolesGain(s) is not s
+        assert s.to_zpk() is not s
+
+
+class Test_abcd_normalize:
+    def setup_method(self):
+        self.A = np.array([[1.0, 2.0], [3.0, 4.0]])
+        self.B = np.array([[-1.0], [5.0]])
+        self.C = np.array([[4.0, 5.0]])
+        self.D = np.array([[2.5]])
+
+    def test_no_matrix_fails(self):
+        assert_raises(ValueError, abcd_normalize)
+
+    def test_A_nosquare_fails(self):
+        assert_raises(ValueError, abcd_normalize, [1, -1],
+                      self.B, self.C, self.D)
+
+    def test_AB_mismatch_fails(self):
+        assert_raises(ValueError, abcd_normalize, self.A, [-1, 5],
+                      self.C, self.D)
+
+    def test_AC_mismatch_fails(self):
+        assert_raises(ValueError, abcd_normalize, self.A, self.B,
+                      [[4.0], [5.0]], self.D)
+
+    def test_CD_mismatch_fails(self):
+        assert_raises(ValueError, abcd_normalize, self.A, self.B,
+                      self.C, [2.5, 0])
+
+    def test_BD_mismatch_fails(self):
+        assert_raises(ValueError, abcd_normalize, self.A, [-1, 5],
+                      self.C, self.D)
+
+    def test_normalized_matrices_unchanged(self):
+        A, B, C, D = abcd_normalize(self.A, self.B, self.C, self.D)
+        xp_assert_equal(A, self.A)
+        xp_assert_equal(B, self.B)
+        xp_assert_equal(C, self.C)
+        xp_assert_equal(D, self.D)
+
+    def test_shapes(self):
+        A, B, C, D = abcd_normalize(self.A, self.B, [1, 0], 0)
+        xp_assert_equal(A.shape[0], A.shape[1])
+        xp_assert_equal(A.shape[0], B.shape[0])
+        xp_assert_equal(A.shape[0], C.shape[1])
+        xp_assert_equal(C.shape[0], D.shape[0])
+        xp_assert_equal(B.shape[1], D.shape[1])
+
+    def test_zero_dimension_is_not_none1(self):
+        B_ = np.zeros((2, 0))
+        D_ = np.zeros((0, 0))
+        A, B, C, D = abcd_normalize(A=self.A, B=B_, D=D_)
+        xp_assert_equal(A, self.A)
+        xp_assert_equal(B, B_)
+        xp_assert_equal(D, D_)
+        assert C.shape[0] == D_.shape[0]
+        assert C.shape[1] == self.A.shape[0]
+
+    def test_zero_dimension_is_not_none2(self):
+        B_ = np.zeros((2, 0))
+        C_ = np.zeros((0, 2))
+        A, B, C, D = abcd_normalize(A=self.A, B=B_, C=C_)
+        xp_assert_equal(A, self.A)
+        xp_assert_equal(B, B_)
+        xp_assert_equal(C, C_)
+        assert D.shape[0] == C_.shape[0]
+        assert D.shape[1] == B_.shape[1]
+
+    def test_missing_A(self):
+        A, B, C, D = abcd_normalize(B=self.B, C=self.C, D=self.D)
+        assert A.shape[0] == A.shape[1]
+        assert A.shape[0] == B.shape[0]
+        assert A.shape == (self.B.shape[0], self.B.shape[0])
+
+    def test_missing_B(self):
+        A, B, C, D = abcd_normalize(A=self.A, C=self.C, D=self.D)
+        assert B.shape[0] == A.shape[0]
+        assert B.shape[1] == D.shape[1]
+        assert B.shape == (self.A.shape[0], self.D.shape[1])
+
+    def test_missing_C(self):
+        A, B, C, D = abcd_normalize(A=self.A, B=self.B, D=self.D)
+        assert C.shape[0] == D.shape[0]
+        assert C.shape[1] == A.shape[0]
+        assert C.shape == (self.D.shape[0], self.A.shape[0])
+
+    def test_missing_D(self):
+        A, B, C, D = abcd_normalize(A=self.A, B=self.B, C=self.C)
+        assert D.shape[0] == C.shape[0]
+        assert D.shape[1] == B.shape[1]
+        assert D.shape == (self.C.shape[0], self.B.shape[1])
+
+    def test_missing_AB(self):
+        A, B, C, D = abcd_normalize(C=self.C, D=self.D)
+        assert A.shape[0] == A.shape[1]
+        assert A.shape[0] == B.shape[0]
+        assert B.shape[1] == D.shape[1]
+        assert A.shape == (self.C.shape[1], self.C.shape[1])
+        assert B.shape == (self.C.shape[1], self.D.shape[1])
+
+    def test_missing_AC(self):
+        A, B, C, D = abcd_normalize(B=self.B, D=self.D)
+        assert A.shape[0] == A.shape[1]
+        assert A.shape[0] == B.shape[0]
+        assert C.shape[0] == D.shape[0]
+        assert C.shape[1] == A.shape[0]
+        assert A.shape == (self.B.shape[0], self.B.shape[0])
+        assert C.shape == (self.D.shape[0], self.B.shape[0])
+
+    def test_missing_AD(self):
+        A, B, C, D = abcd_normalize(B=self.B, C=self.C)
+        assert A.shape[0] == A.shape[1]
+        assert A.shape[0] == B.shape[0]
+        assert D.shape[0] == C.shape[0]
+        assert D.shape[1] == B.shape[1]
+        assert A.shape == (self.B.shape[0], self.B.shape[0])
+        assert D.shape == (self.C.shape[0], self.B.shape[1])
+
+    def test_missing_BC(self):
+        A, B, C, D = abcd_normalize(A=self.A, D=self.D)
+        assert B.shape[0] == A.shape[0]
+        assert B.shape[1] == D.shape[1]
+        assert C.shape[0] == D.shape[0]
+        assert C.shape[1], A.shape[0]
+        assert B.shape == (self.A.shape[0], self.D.shape[1])
+        assert C.shape == (self.D.shape[0], self.A.shape[0])
+
+    def test_missing_ABC_fails(self):
+        assert_raises(ValueError, abcd_normalize, D=self.D)
+
+    def test_missing_BD_fails(self):
+        assert_raises(ValueError, abcd_normalize, A=self.A, C=self.C)
+
+    def test_missing_CD_fails(self):
+        assert_raises(ValueError, abcd_normalize, A=self.A, B=self.B)
+
+
+class Test_bode:
+
+    def test_01(self):
+        # Test bode() magnitude calculation (manual sanity check).
+        # 1st order low-pass filter: H(s) = 1 / (s + 1),
+        # cutoff: 1 rad/s, slope: -20 dB/decade
+        #   H(s=0.1) ~= 0 dB
+        #   H(s=1) ~= -3 dB
+        #   H(s=10) ~= -20 dB
+        #   H(s=100) ~= -40 dB
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10, 100]
+        w, mag, phase = bode(system, w=w)
+        expected_mag = [0, -3, -20, -40]
+        assert_almost_equal(mag, expected_mag, decimal=1)
+
+    def test_02(self):
+        # Test bode() phase calculation (manual sanity check).
+        # 1st order low-pass filter: H(s) = 1 / (s + 1),
+        #   angle(H(s=0.1)) ~= -5.7 deg
+        #   angle(H(s=1)) ~= -45 deg
+        #   angle(H(s=10)) ~= -84.3 deg
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10]
+        w, mag, phase = bode(system, w=w)
+        expected_phase = [-5.7, -45, -84.3]
+        assert_almost_equal(phase, expected_phase, decimal=1)
+
+    def test_03(self):
+        # Test bode() magnitude calculation.
+        # 1st order low-pass filter: H(s) = 1 / (s + 1)
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10, 100]
+        w, mag, phase = bode(system, w=w)
+        jw = w * 1j
+        y = np.polyval(system.num, jw) / np.polyval(system.den, jw)
+        expected_mag = 20.0 * np.log10(abs(y))
+        assert_almost_equal(mag, expected_mag)
+
+    def test_04(self):
+        # Test bode() phase calculation.
+        # 1st order low-pass filter: H(s) = 1 / (s + 1)
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10, 100]
+        w, mag, phase = bode(system, w=w)
+        jw = w * 1j
+        y = np.polyval(system.num, jw) / np.polyval(system.den, jw)
+        expected_phase = np.arctan2(y.imag, y.real) * 180.0 / np.pi
+        assert_almost_equal(phase, expected_phase)
+
+    def test_05(self):
+        # Test that bode() finds a reasonable frequency range.
+        # 1st order low-pass filter: H(s) = 1 / (s + 1)
+        system = lti([1], [1, 1])
+        n = 10
+        # Expected range is from 0.01 to 10.
+        expected_w = np.logspace(-2, 1, n)
+        w, mag, phase = bode(system, n=n)
+        assert_almost_equal(w, expected_w)
+
+    def test_06(self):
+        # Test that bode() doesn't fail on a system with a pole at 0.
+        # integrator, pole at zero: H(s) = 1 / s
+        system = lti([1], [1, 0])
+        w, mag, phase = bode(system, n=2)
+        assert w[0] == 0.01   # a fail would give not-a-number
+
+    def test_07(self):
+        # bode() should not fail on a system with pure imaginary poles.
+        # The test passes if bode doesn't raise an exception.
+        system = lti([1], [1, 0, 100])
+        w, mag, phase = bode(system, n=2)
+
+    def test_08(self):
+        # Test that bode() return continuous phase, issues/2331.
+        system = lti([], [-10, -30, -40, -60, -70], 1)
+        w, mag, phase = system.bode(w=np.logspace(-3, 40, 100))
+        assert_almost_equal(min(phase), -450, decimal=15)
+
+    def test_from_state_space(self):
+        # Ensure that bode works with a system that was created from the
+        # state space representation matrices A, B, C, D.  In this case,
+        # system.num will be a 2-D array with shape (1, n+1), where (n,n)
+        # is the shape of A.
+        # A Butterworth lowpass filter is used, so we know the exact
+        # frequency response.
+        a = np.array([1.0, 2.0, 2.0, 1.0])
+        A = linalg.companion(a).T
+        B = np.array([[0.0], [0.0], [1.0]])
+        C = np.array([[1.0, 0.0, 0.0]])
+        D = np.array([[0.0]])
+        with suppress_warnings() as sup:
+            sup.filter(BadCoefficients)
+            system = lti(A, B, C, D)
+            w, mag, phase = bode(system, n=100)
+
+        expected_magnitude = 20 * np.log10(np.sqrt(1.0 / (1.0 + w**6)))
+        assert_almost_equal(mag, expected_magnitude)
+
+
+class Test_freqresp:
+
+    def test_output_manual(self):
+        # Test freqresp() output calculation (manual sanity check).
+        # 1st order low-pass filter: H(s) = 1 / (s + 1),
+        #   re(H(s=0.1)) ~= 0.99
+        #   re(H(s=1)) ~= 0.5
+        #   re(H(s=10)) ~= 0.0099
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10]
+        w, H = freqresp(system, w=w)
+        expected_re = [0.99, 0.5, 0.0099]
+        expected_im = [-0.099, -0.5, -0.099]
+        assert_almost_equal(H.real, expected_re, decimal=1)
+        assert_almost_equal(H.imag, expected_im, decimal=1)
+
+    def test_output(self):
+        # Test freqresp() output calculation.
+        # 1st order low-pass filter: H(s) = 1 / (s + 1)
+        system = lti([1], [1, 1])
+        w = [0.1, 1, 10, 100]
+        w, H = freqresp(system, w=w)
+        s = w * 1j
+        expected = np.polyval(system.num, s) / np.polyval(system.den, s)
+        assert_almost_equal(H.real, expected.real)
+        assert_almost_equal(H.imag, expected.imag)
+
+    def test_freq_range(self):
+        # Test that freqresp() finds a reasonable frequency range.
+        # 1st order low-pass filter: H(s) = 1 / (s + 1)
+        # Expected range is from 0.01 to 10.
+        system = lti([1], [1, 1])
+        n = 10
+        expected_w = np.logspace(-2, 1, n)
+        w, H = freqresp(system, n=n)
+        assert_almost_equal(w, expected_w)
+
+    def test_pole_zero(self):
+        # Test that freqresp() doesn't fail on a system with a pole at 0.
+        # integrator, pole at zero: H(s) = 1 / s
+        system = lti([1], [1, 0])
+        w, H = freqresp(system, n=2)
+        assert w[0] == 0.01  # a fail would give not-a-number
+
+    def test_from_state_space(self):
+        # Ensure that freqresp works with a system that was created from the
+        # state space representation matrices A, B, C, D.  In this case,
+        # system.num will be a 2-D array with shape (1, n+1), where (n,n) is
+        # the shape of A.
+        # A Butterworth lowpass filter is used, so we know the exact
+        # frequency response.
+        a = np.array([1.0, 2.0, 2.0, 1.0])
+        A = linalg.companion(a).T
+        B = np.array([[0.0],[0.0],[1.0]])
+        C = np.array([[1.0, 0.0, 0.0]])
+        D = np.array([[0.0]])
+        with suppress_warnings() as sup:
+            sup.filter(BadCoefficients)
+            system = lti(A, B, C, D)
+            w, H = freqresp(system, n=100)
+        s = w * 1j
+        expected = (1.0 / (1.0 + 2*s + 2*s**2 + s**3))
+        assert_almost_equal(H.real, expected.real)
+        assert_almost_equal(H.imag, expected.imag)
+
+    def test_from_zpk(self):
+        # 4th order low-pass filter: H(s) = 1 / (s + 1)
+        system = lti([],[-1]*4,[1])
+        w = [0.1, 1, 10, 100]
+        w, H = freqresp(system, w=w)
+        s = w * 1j
+        expected = 1 / (s + 1)**4
+        assert_almost_equal(H.real, expected.real)
+        assert_almost_equal(H.imag, expected.imag)