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Commit258c9c2

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Merge pull request#567 from juanodecc/step_info_improve_jpp
Step info improve jpp
2 parents0f951e1 +81ae64f commit258c9c2

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2 files changed

+172
-29
lines changed

2 files changed

+172
-29
lines changed

‎control/tests/timeresp_test.py

Lines changed: 104 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -193,6 +193,35 @@ def pole_cancellation(self):
193193
defno_pole_cancellation(self):
194194
returnTransferFunction([1.881e+06],
195195
[188.1,1.881e+06])
196+
197+
@pytest.fixture
198+
defsiso_tf_type1(self):
199+
# System Type 1 - Step response not stationary: G(s)=1/s(s+1)
200+
returnTransferFunction(1, [1,1,0])
201+
202+
@pytest.fixture
203+
defsiso_tf_kpos(self):
204+
# SISO under shoot response and positive final value G(s)=(-s+1)/(s²+s+1)
205+
returnTransferFunction([-1,1], [1,1,1])
206+
207+
@pytest.fixture
208+
defsiso_tf_kneg(self):
209+
# SISO under shoot response and negative final value k=-1 G(s)=-(-s+1)/(s²+s+1)
210+
returnTransferFunction([1,-1], [1,1,1])
211+
212+
@pytest.fixture
213+
deftf1_matlab_help(self):
214+
# example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html
215+
returnTransferFunction([1,5,5], [1,1.65,5,6.5,2])
216+
217+
@pytest.fixture
218+
deftf2_matlab_help(self):
219+
A= [[0.68,-0.34], [0.34,0.68]]
220+
B= [[0.18], [0.04]]
221+
C= [-1.12,-1.10]
222+
D= [0.06]
223+
sys=StateSpace(A,B,C,D,0.2)
224+
returnsys
196225

197226
@pytest.fixture
198227
deftsystem(self,
@@ -202,7 +231,9 @@ def tsystem(self,
202231
siso_dtf0,siso_dtf1,siso_dtf2,
203232
siso_dss1,siso_dss2,
204233
mimo_dss1,mimo_dss2,mimo_dtf1,
205-
pole_cancellation,no_pole_cancellation):
234+
pole_cancellation,no_pole_cancellation,siso_tf_type1,
235+
siso_tf_kpos,siso_tf_kneg,tf1_matlab_help,
236+
tf2_matlab_help):
206237
systems= {"siso_ss1":siso_ss1,
207238
"siso_ss2":siso_ss2,
208239
"siso_tf1":siso_tf1,
@@ -220,6 +251,11 @@ def tsystem(self,
220251
"mimo_dtf1":mimo_dtf1,
221252
"pole_cancellation":pole_cancellation,
222253
"no_pole_cancellation":no_pole_cancellation,
254+
"siso_tf_type1":siso_tf_type1,
255+
"siso_tf_kpos":siso_tf_kpos,
256+
"siso_tf_kneg":siso_tf_kneg,
257+
"tf1_matlab_help":tf1_matlab_help,
258+
"tf2_matlab_help":tf2_matlab_help,
223259
}
224260
returnsystems[request.param]
225261

@@ -303,6 +339,73 @@ def test_step_info(self):
303339
[Strue[k]forkinSktrue],
304340
rtol=rtol)
305341

342+
# tolerance for all parameters could be wrong for some systems
343+
# discrete systems time parameters tolerance could be +/-dt
344+
@pytest.mark.parametrize(
345+
"tsystem, info_true, tolerance",
346+
[("tf1_matlab_help", {
347+
'RiseTime':3.8456,
348+
'SettlingTime':27.9762,
349+
'SettlingMin':2.0689,
350+
'SettlingMax':2.6873,
351+
'Overshoot':7.4915,
352+
'Undershoot':0,
353+
'Peak':2.6873,
354+
'PeakTime':8.0530,
355+
'SteadyStateValue':2.5},2e-2),
356+
("tf2_matlab_help", {
357+
'RiseTime':0.4000,
358+
'SettlingTime':2.8000,
359+
'SettlingMin':-0.6724,
360+
'SettlingMax':-0.5188,
361+
'Overshoot':24.6476,
362+
'Undershoot':11.1224,
363+
'Peak':0.6724,
364+
'PeakTime':1,
365+
'SteadyStateValue':-0.5394},.2),
366+
("siso_tf_kpos", {
367+
'RiseTime':1.242,
368+
'SettlingTime':9.110,
369+
'SettlingMin':0.950,
370+
'SettlingMax':1.208,
371+
'Overshoot':20.840,
372+
'Undershoot':27.840,
373+
'Peak':1.208,
374+
'PeakTime':4.282,
375+
'SteadyStateValue':1.0},2e-2),
376+
("siso_tf_kneg", {
377+
'RiseTime':1.242,
378+
'SettlingTime':9.110,
379+
'SettlingMin':-1.208,
380+
'SettlingMax':-0.950,
381+
'Overshoot':20.840,
382+
'Undershoot':27.840,
383+
'Peak':1.208,
384+
'PeakTime':4.282,
385+
'SteadyStateValue':-1.0},2e-2),
386+
("siso_tf_type1", {'RiseTime':np.NaN,
387+
'SettlingTime':np.NaN,
388+
'SettlingMin':np.NaN,
389+
'SettlingMax':np.NaN,
390+
'Overshoot':np.NaN,
391+
'Undershoot':np.NaN,
392+
'Peak':np.Inf,
393+
'PeakTime':np.Inf,
394+
'SteadyStateValue':np.NaN},2e-2)],
395+
indirect=["tsystem"])
396+
deftest_step_info(self,tsystem,info_true,tolerance):
397+
""" """
398+
info=step_info(tsystem)
399+
400+
info_true_sorted=sorted(info_true.keys())
401+
info_sorted=sorted(info.keys())
402+
403+
assertinfo_sorted==info_true_sorted
404+
405+
np.testing.assert_allclose([info_true[k]forkininfo_true_sorted],
406+
[info[k]forkininfo_sorted],
407+
rtol=tolerance)
408+
306409
deftest_step_pole_cancellation(self,pole_cancellation,
307410
no_pole_cancellation):
308411
# confirm that pole-zero cancellation doesn't perturb results

‎control/timeresp.py

Lines changed: 68 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -746,7 +746,8 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
746746
747747
Parameters
748748
----------
749-
sys : StateSpace or TransferFunction
749+
sys : SISO dynamic system model. Dynamic systems that you can use include:
750+
StateSpace or TransferFunction
750751
LTI system to simulate
751752
752753
T : array_like or float, optional
@@ -785,43 +786,82 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
785786
--------
786787
>>> info = step_info(sys, T)
787788
'''
788-
_,sys=_get_ss_simo(sys)
789+
790+
ifnotsys.issiso():
791+
sys=_mimo2siso(sys,0,0)
792+
warnings.warn(" Internal conversion from a MIMO system to a SISO system,"
793+
" the first input and the first output were used (u1 -> y1);"
794+
" it may not be the result you are looking for")
795+
789796
ifTisNoneornp.asarray(T).size==1:
790797
T=_default_time_vector(sys,N=T_num,tfinal=T,is_step=True)
791798

792799
T,yout=step_response(sys,T)
793800

794801
# Steady state value
795-
InfValue=sys.dcgain()
796-
797-
# RiseTime
798-
tr_lower_index= (np.where(yout>=RiseTimeLimits[0]*InfValue)[0])[0]
799-
tr_upper_index= (np.where(yout>=RiseTimeLimits[1]*InfValue)[0])[0]
800-
RiseTime=T[tr_upper_index]-T[tr_lower_index]
801-
802-
# SettlingTime
803-
sup_margin= (1.+SettlingTimeThreshold)*InfValue
804-
inf_margin= (1.-SettlingTimeThreshold)*InfValue
805-
# find Steady State looking for the first point out of specified limits
806-
foriinreversed(range(T.size)):
807-
if((yout[i]<=inf_margin)| (yout[i]>=sup_margin)):
808-
SettlingTime=T[i+1]
809-
break
802+
InfValue=sys.dcgain().real
803+
804+
# TODO: this could be a function step_info4data(t,y,yfinal)
805+
rise_time:float=np.NaN
806+
settling_time:float=np.NaN
807+
settling_min:float=np.NaN
808+
settling_max:float=np.NaN
809+
peak_value:float=np.Inf
810+
peak_time:float=np.Inf
811+
undershoot:float=np.NaN
812+
overshoot:float=np.NaN
813+
steady_state_value:float=np.NaN
814+
815+
ifnotnp.isnan(InfValue)andnotnp.isinf(InfValue):
816+
# SteadyStateValue
817+
steady_state_value=InfValue
818+
# Peak
819+
peak_index=np.abs(yout).argmax()
820+
peak_value=np.abs(yout[peak_index])
821+
peak_time=T[peak_index]
822+
823+
sup_margin= (1.+SettlingTimeThreshold)*InfValue
824+
inf_margin= (1.-SettlingTimeThreshold)*InfValue
825+
826+
# RiseTime
827+
tr_lower_index= (np.where(np.sign(InfValue.real)* (yout-RiseTimeLimits[0]*InfValue)>=0 )[0])[0]
828+
tr_upper_index= (np.where(np.sign(InfValue.real)*yout>=np.sign(InfValue.real)*RiseTimeLimits[1]*InfValue)[0])[0]
829+
830+
# SettlingTime
831+
settling_time=T[np.where(np.abs(yout-InfValue)>=np.abs(SettlingTimeThreshold*InfValue))[0][-1]+1]
832+
# Overshoot and Undershoot
833+
y_os= (np.sign(InfValue.real)*yout).max()
834+
dy_os=np.abs(y_os)-np.abs(InfValue)
835+
ifdy_os>0:
836+
overshoot=np.abs(100.*dy_os/InfValue)
837+
else:
838+
overshoot=0
839+
840+
y_us= (np.sign(InfValue.real)*yout).min()
841+
dy_us=np.abs(y_us)
842+
ifdy_us>0:
843+
undershoot=np.abs(100.*dy_us/InfValue)
844+
else:
845+
undershoot=0
846+
847+
# RiseTime
848+
rise_time=T[tr_upper_index]-T[tr_lower_index]
849+
850+
settling_max= (yout[tr_upper_index:]).max()
851+
settling_min= (yout[tr_upper_index:]).min()
810852

811-
PeakIndex=np.abs(yout).argmax()
812853
return {
813-
'RiseTime':RiseTime,
814-
'SettlingTime':SettlingTime,
815-
'SettlingMin':yout[tr_upper_index:].min(),
816-
'SettlingMax':yout.max(),
817-
'Overshoot':100.* (yout.max()-InfValue)/InfValue,
818-
'Undershoot':yout.min(),# not very confident about this
819-
'Peak':yout[PeakIndex],
820-
'PeakTime':T[PeakIndex],
821-
'SteadyStateValue':InfValue
854+
'RiseTime':rise_time,
855+
'SettlingTime':settling_time,
856+
'SettlingMin':settling_min,
857+
'SettlingMax':settling_max,
858+
'Overshoot':overshoot,
859+
'Undershoot':undershoot,
860+
'Peak':peak_value,
861+
'PeakTime':peak_time,
862+
'SteadyStateValue':steady_state_value
822863
}
823864

824-
825865
definitial_response(sys,T=None,X0=0.,input=0,output=None,T_num=None,
826866
transpose=False,return_x=False,squeeze=None):
827867
# pylint: disable=W0622

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