Simplify LTI integration test to speed up tests (#45)

* Simplify test LTI model

* Update test LTI controller params for new test model

* Reduce sim steps in LTI integration test to speed up tests

Author: pavelacamposp

tests/config/controllers/test_lti_dd_mpc_params.yaml

@@ -1,10 +1,10 @@
 ---
 test_lti_dd_mpc_params:
-  n: 4
-  N: 400
-  L: 30
-  Q_weights: 3
-  R_weights: 1.0e-4
+  n: 1
+  N: 12
+  L: 2
+  Q_weights: 1
+  R_weights: 1
   epsilon_bar: 0.002
   lambda_sigma: 1000
   lambda_alpha_epsilon_bar: 0.1
@@ -16,6 +16,6 @@ test_lti_dd_mpc_params:
     - [-1, 1]
   slack_var_constraint_type: 0
   controller_type: 1
-  u_s: [1, 1]
-  y_s: [0.65, 0.77]
+  u_s: [1, 1.5]
+  y_s: [1, 1]
   n_n_mpc_step: true

tests/config/models/test_lti_model.yaml

@@ -1,18 +1,14 @@
 ---
 test_lti_model:
   A:
-    - [0.921, 0, 0.041, 0]
-    - [0, 0.918, 0, 0.033]
-    - [0, 0, 0.924, 0]
-    - [0, 0, 0, 0.937]
+    - [0.9, 0]
+    - [0, 0.85]
   B:
-    - [0.017, 0.001]
-    - [0.001, 0.023]
-    - [0, 0.061]
-    - [0.072, 0]
+    - [0.1, 0]
+    - [0, 0.1]
   C:
-    - [1, 0, 0, 0]
-    - [0, 1, 0, 0]
+    - [1, 0]
+    - [0, 1]
   D:
     - [0, 0]
     - [0, 0]

tests/test_lti_dd_mpc_integration.py

@@ -72,7 +72,7 @@ def test_lti_dd_mpc_integration(
     """
     # Define test parameters
     np_random = np.random.default_rng(0)
-    n_steps = 50
+    n_steps = 30
     verbose = 0
 
     # Define system model
@@ -163,7 +163,7 @@ def test_lti_dd_mpc_integration(
     np.testing.assert_equal(dd_mpc_controller.y_s, new_y_s)
 
     # Simulate data-driven MPC control system for the new setpoint
-    n_steps_setpoint_change = 30
+    n_steps_setpoint_change = 25
     u_change, y_change = simulate_lti_data_driven_mpc_control_loop(
         system_model=system_model,
         data_driven_mpc_controller=dd_mpc_controller,