Update tests

test/linearize.jl

@@ -187,7 +187,7 @@ if VERSION >= v"1.8"
  using ModelingToolkitStandardLibrary
  using ModelingToolkitStandardLibrary.Blocks
  using ModelingToolkitStandardLibrary.Mechanical.MultiBody2D
- using ModelingToolkitStandardLibrary.Mechanical.Translational
+ using ModelingToolkitStandardLibrary.Mechanical.TranslationalPosition
 
  using ControlSystemsMTK
  using ControlSystemsMTK.ControlSystemsBase: sminreal, minreal, poles
@@ -197,22 +197,20 @@ if VERSION >= v"1.8"
  D = Differential(t)
 
  @named link1 = Link(; m = 0.2, l = 10, I = 1, g = -9.807)
- @named cart = Translational.Mass(; m = 1, s = 0)
+ @named cart = TranslationalPosition.Mass(; m = 1, s = 0)
  @named fixed = Fixed()
- @named force = Force()
+ @named force = Force(use_support = false)
 
  eqs = [connect(link1.TX1, cart.flange)
  connect(cart.flange, force.flange)
  connect(link1.TY1, fixed.flange)]
 
  @named model = ODESystem(eqs, t, [], []; systems = [link1, cart, force, fixed])
  def = ModelingToolkit.defaults(model)
- for s in states(model)
- def[s] = 0
- end
- def[link1.x1] = 10
- def[link1.fy1] = -def[link1.g] * def[link1.m]
+ def[cart.s] = 10
+ def[cart.v] = 0
  def[link1.A] = -pi / 2
+ def[link1.dA] = 0
  lin_outputs = [cart.s, cart.v, link1.A, link1.dA]
  lin_inputs = [force.f.u]
 
@@ -235,11 +233,12 @@ if VERSION >= v"1.8"
 
  dummyder = setdiff(states(sysss), states(model))
  def = merge(def, Dict(x => 0.0 for x in dummyder))
+ def[link1.fy1] = -def[link1.g] * def[link1.m]
 
  @test substitute(lsyss.A, def) ≈ lsys.A
  # We cannot pivot symbolically, so the part where a linear solve is required
  # is not reliable.
- @test substitute(lsyss.B, def)[1:6, :] ≈ lsys.B[1:6, :]
+ @test substitute(lsyss.B, def)[1:6, 1] ≈ lsys.B[1:6, 1]
  @test substitute(lsyss.C, def) ≈ lsys.C
  @test substitute(lsyss.D, def) ≈ lsys.D
 end