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Commit17c4a95

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committed
fixed issues identified in review
1 parent03f87a3 commit17c4a95

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3 files changed

+81
-43
lines changed

3 files changed

+81
-43
lines changed

‎control/freqplot.py

Lines changed: 73 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -217,19 +217,19 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
217217
# If no axes present, create them from scratch
218218
ifax_magisNoneorax_phaseisNone:
219219
plt.clf()
220-
ax_mag=plt.subplot(211,label='control-bode-magnitude')
221-
ax_phase=plt.subplot(212,label='control-bode-phase',
220+
ax_mag=plt.subplot(211,
221+
label='control-bode-magnitude')
222+
ax_phase=plt.subplot(212,
223+
label='control-bode-phase',
222224
sharex=ax_mag)
223225

224226
# Magnitude plot
225227
ifdB:
226228
pltline=ax_mag.semilogx(omega_plot,20*np.log10(mag),
227229
*args,**kwargs)
228230
else:
229-
230231
pltline=ax_mag.loglog(omega_plot,mag,*args,**kwargs)
231232

232-
233233
ifnyquistfrq_plot:
234234
ax_mag.axvline(nyquistfrq_plot,
235235
color=pltline[0].get_color())
@@ -259,69 +259,96 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
259259
ifHz:
260260
Wcg,Wcp=Wcg/(2*math.pi),Wcp/(2*math.pi)
261261

262-
ax_mag.axhline(y=0ifdBelse1,color='k',linestyle=':',zorder=-20)
262+
ax_mag.axhline(y=0ifdBelse1,color='k',linestyle=':',
263+
zorder=-20)
263264
ax_phase.axhline(y=phase_limitifdegelsemath.radians(phase_limit),
264265
color='k',linestyle=':',zorder=-20)
265266
mag_ylim=ax_mag.get_ylim()
266267
phase_ylim=ax_phase.get_ylim()
267268

268269
ifpm!=float('inf')andWcp!=float('nan'):
269270
ifdB:
270-
ax_mag.semilogx([Wcp,Wcp], [0.,-1e5],color='k',linestyle=':',zorder=-20)
271+
ax_mag.semilogx([Wcp,Wcp], [0.,-1e5],
272+
color='k',linestyle=':',
273+
zorder=-20)
271274
else:
272-
ax_mag.loglog([Wcp,Wcp], [1.,1e-8],color='k',linestyle=':',zorder=-20)
275+
ax_mag.loglog([Wcp,Wcp], [1.,1e-8],color='k',
276+
linestyle=':',zorder=-20)
273277

274278
ifdeg:
275-
ax_phase.semilogx([Wcp,Wcp], [1e5,phase_limit+pm],
276-
color='k',linestyle=':',zorder=-20)
277-
ax_phase.semilogx([Wcp,Wcp], [phase_limit+pm,phase_limit],
279+
ax_phase.semilogx([Wcp,Wcp],
280+
[1e5,phase_limit+pm],
281+
color='k',linestyle=':',
282+
zorder=-20)
283+
ax_phase.semilogx([Wcp,Wcp],
284+
[phase_limit+pm,phase_limit],
278285
color='k',zorder=-20)
279286
else:
280-
ax_phase.semilogx([Wcp,Wcp], [1e5,math.radians(phase_limit)+
281-
math.radians(pm)],
282-
color='k',linestyle=':',zorder=-20)
283-
ax_phase.semilogx([Wcp,Wcp], [math.radians(phase_limit)+math.radians(pm),
284-
math.radians(phase_limit)],
287+
ax_phase.semilogx([Wcp,Wcp],
288+
[1e5,math.radians(phase_limit)+
289+
math.radians(pm)],
290+
color='k',linestyle=':',
291+
zorder=-20)
292+
ax_phase.semilogx([Wcp,Wcp],
293+
[math.radians(phase_limit)+
294+
math.radians(pm),
295+
math.radians(phase_limit)],
285296
color='k',zorder=-20)
286297

287298
ifgm!=float('inf')andWcg!=float('nan'):
288299
ifdB:
289-
ax_mag.semilogx([Wcg,Wcg], [-20.*np.log10(gm),-1e5],
290-
color='k',linestyle=':',zorder=-20)
300+
ax_mag.semilogx([Wcg,Wcg],
301+
[-20.*np.log10(gm),-1e5],
302+
color='k',linestyle=':',
303+
zorder=-20)
291304
ax_mag.semilogx([Wcg,Wcg], [0,-20*np.log10(gm)],
292305
color='k',zorder=-20)
293306
else:
294-
ax_mag.loglog([Wcg,Wcg], [1./gm,1e-8],color='k',linestyle=':',zorder=-20)
295-
ax_mag.loglog([Wcg,Wcg], [1.,1./gm],color='k',zorder=-20)
307+
ax_mag.loglog([Wcg,Wcg],
308+
[1./gm,1e-8],color='k',
309+
linestyle=':',zorder=-20)
310+
ax_mag.loglog([Wcg,Wcg],
311+
[1.,1./gm],color='k',zorder=-20)
296312

297313
ifdeg:
298314
ax_phase.semilogx([Wcg,Wcg], [1e-8,phase_limit],
299-
color='k',linestyle=':',zorder=-20)
315+
color='k',linestyle=':',
316+
zorder=-20)
300317
else:
301-
ax_phase.semilogx([Wcg,Wcg], [1e-8,math.radians(phase_limit)],
302-
color='k',linestyle=':',zorder=-20)
318+
ax_phase.semilogx([Wcg,Wcg],
319+
[1e-8,math.radians(phase_limit)],
320+
color='k',linestyle=':',
321+
zorder=-20)
303322

304323
ax_mag.set_ylim(mag_ylim)
305324
ax_phase.set_ylim(phase_ylim)
306325

307326
ifsisotool:
308-
ax_mag.text(0.04,0.06,'G.M.: %.2f %s\nFreq: %.2f %s'%
327+
ax_mag.text(0.04,0.06,
328+
'G.M.: %.2f %s\nFreq: %.2f %s'%
309329
(20*np.log10(gm)ifdBelsegm,
310-
'dB 'ifdBelse'',Wcg,'Hz'ifHzelse'rad/s'),
311-
horizontalalignment='left',verticalalignment='bottom',
330+
'dB 'ifdBelse'',
331+
Wcg,'Hz'ifHzelse'rad/s'),
332+
horizontalalignment='left',
333+
verticalalignment='bottom',
312334
transform=ax_mag.transAxes,
313335
fontsize=8ifint(matplotlib.__version__[0])==1else6)
314-
ax_phase.text(0.04,0.06,'P.M.: %.2f %s\nFreq: %.2f %s'%
336+
ax_phase.text(0.04,0.06,
337+
'P.M.: %.2f %s\nFreq: %.2f %s'%
315338
(pmifdegelsemath.radians(pm),
316-
'deg'ifdegelse'rad',Wcp,'Hz'ifHzelse'rad/s'),
317-
horizontalalignment='left',verticalalignment='bottom',
318-
transform=ax_phase.transAxes,
339+
'deg'ifdegelse'rad',
340+
Wcp,'Hz'ifHzelse'rad/s'),
341+
horizontalalignment='left',
342+
verticalalignment='bottom',
343+
transform=ax_phase.transAxes,
319344
fontsize=8ifint(matplotlib.__version__[0])==1else6)
320345
else:
321346
plt.suptitle('Gm = %.2f %s(at %.2f %s), Pm = %.2f %s (at %.2f %s)'%
322347
(20*np.log10(gm)ifdBelsegm,
323-
'dB 'ifdBelse'\b',Wcg,'Hz'ifHzelse'rad/s',
324-
pmifdegelsemath.radians(pm),'deg'ifdegelse'rad',
348+
'dB 'ifdBelse'\b',
349+
Wcg,'Hz'ifHzelse'rad/s',
350+
pmifdegelsemath.radians(pm),
351+
'deg'ifdegelse'rad',
325352
Wcp,'Hz'ifHzelse'rad/s'))
326353

327354
ifnyquistfrq_plot:
@@ -336,12 +363,19 @@ def gen_zero_centered_series(val_min, val_max, period):
336363
returnnp.arange(v1,v2+1)*period
337364
ifdeg:
338365
ylim=ax_phase.get_ylim()
339-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],45.))
340-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],15.),minor=True)
366+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
367+
ylim[1],45.))
368+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
369+
ylim[1],15.),
370+
minor=True)
341371
else:
342372
ylim=ax_phase.get_ylim()
343-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],math.pi/4.))
344-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],math.pi/12.),
373+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
374+
ylim[1],
375+
math.pi/4.))
376+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
377+
ylim[1],
378+
math.pi/12.),
345379
minor=True)
346380
ax_phase.grid(FalseifmarginselseTrue,which='both')
347381
# ax_mag.grid(which='minor', alpha=0.3)
@@ -350,15 +384,17 @@ def gen_zero_centered_series(val_min, val_max, period):
350384
# ax_phase.grid(which='major', alpha=0.9)
351385

352386
# Label the frequency axis
353-
ax_phase.set_xlabel("Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
387+
ax_phase.set_xlabel("Frequency (Hz)"ifHz
388+
else"Frequency (rad/sec)")
354389

355390
iflen(syslist)==1:
356391
returnmags[0],phases[0],omegas[0]
357392
else:
358393
returnmags,phases,omegas
359394

360395

361-
defnyquist_plot(syslist,omega=None,Plot=True,color=None,labelFreq=0,*args,**kwargs):
396+
defnyquist_plot(syslist,omega=None,Plot=True,color=None,
397+
labelFreq=0,*args,**kwargs):
362398
"""
363399
Nyquist plot for a system
364400

‎control/sisotool.py

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -7,11 +7,13 @@
77
importmatplotlib.pyplotasplt
88
importwarnings
99

10-
defsisotool(sys,kvect=None,xlim_rlocus=None,ylim_rlocus=None,plotstr_rlocus='b'ifint(matplotlib.__version__[0])==1else'C0',rlocus_grid=False,omega=None,dB=None,Hz=None,deg=None,omega_limits=None,omega_num=None,margins_bode=True,tvect=None):
11-
12-
"""Sisotool
13-
14-
Sisotool style collection of plots inspired by the matlab sisotool.
10+
defsisotool(sys,kvect=None,xlim_rlocus=None,ylim_rlocus=None,
11+
plotstr_rlocus='b'ifint(matplotlib.__version__[0])==1else'C0',
12+
rlocus_grid=False,omega=None,dB=None,Hz=None,
13+
deg=None,omega_limits=None,omega_num=None,
14+
margins_bode=True,tvect=None):
15+
"""
16+
Sisotool style collection of plots inspired by MATLAB's sisotool.
1517
The left two plots contain the bode magnitude and phase diagrams.
1618
The top right plot is a clickable root locus plot, clicking on the
1719
root locus will change the gain of the system. The bottom left plot

‎control/timeresp.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -375,7 +375,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
375375
def_get_ss_simo(sys,input=None,output=None):
376376
"""Return a SISO or SIMO state-space version of sys
377377
378-
If input is notsfpecified, select first input and issue warning
378+
If input is notspecified, select first input and issue warning
379379
"""
380380
sys_ss=_convertToStateSpace(sys)
381381
ifsys_ss.issiso():

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