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Commit3b19ae9

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Fix plot issues (#382)
* fix sgrid, zgrid to use existing axes if they exist + PEP8 cleanup* change plot and print_gain keywords to lower case, with deprecation warning + fix bugs in gangof4 using dB + PEP8, docstring cleanup* remove conversion to state space that was giving spurious zero at infinity* change plot and print_gain keywords to lower case, with deprecation warning* PEP8 cleanup* use Hz=False for MATLAB + docstring corrections* labelFreq -> label_freq in nyquist_plot() w/ deprecation warning + remove extraneous docstring text
1 parenta09d059 commit3b19ae9

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13 files changed

+203
-129
lines changed

13 files changed

+203
-129
lines changed

‎control/config.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -114,11 +114,11 @@ def use_matlab_defaults():
114114
115115
The following conventions are used:
116116
* Bode plots plot gain in dB, phase in degrees, frequency in
117-
Hertz, with grids
117+
rad/sec, with grids
118118
* State space class and functions use Numpy matrix objects
119119
120120
"""
121-
set_defaults('bode',dB=True,deg=True,Hz=True,grid=True)
121+
set_defaults('bode',dB=True,deg=True,Hz=False,grid=True)
122122
set_defaults('statesp',use_numpy_matrix=True)
123123

124124

@@ -128,7 +128,7 @@ def use_fbs_defaults():
128128
129129
The following conventions are used:
130130
* Bode plots plot gain in powers of ten, phase in degrees,
131-
frequency inHertz, no grid
131+
frequency inrad/sec, no grid
132132
133133
"""
134134
set_defaults('bode',dB=False,deg=True,Hz=False,grid=False)

‎control/freqplot.py

Lines changed: 76 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -80,7 +80,7 @@
8080

8181

8282
defbode_plot(syslist,omega=None,
83-
Plot=True,omega_limits=None,omega_num=None,
83+
plot=True,omega_limits=None,omega_num=None,
8484
margins=None,*args,**kwargs):
8585
"""Bode plot for a system
8686
@@ -100,7 +100,7 @@ def bode_plot(syslist, omega=None,
100100
deg : bool
101101
If True, plot phase in degrees (else radians). Default value (True)
102102
config.defaults['bode.deg']
103-
Plot : bool
103+
plot : bool
104104
If True (default), plot magnitude and phase
105105
omega_limits: tuple, list, ... of two values
106106
Limits of the to generate frequency vector.
@@ -110,9 +110,9 @@ def bode_plot(syslist, omega=None,
110110
config.defaults['freqplot.number_of_samples'].
111111
margins : bool
112112
If True, plot gain and phase margin.
113-
*args
114-
Additional arguments for:func:`matplotlib.plot` (color, linestyle, etc)
115-
**kwargs:
113+
*args : `matplotlib` plot positional properties, optional
114+
Additional arguments for `matplotlib` plots (color, linestyle, etc)
115+
**kwargs : `matplotlib` plot keyword properties, optional
116116
Additional keywords (passed to `matplotlib`)
117117
118118
Returns
@@ -153,12 +153,20 @@ def bode_plot(syslist, omega=None,
153153
# Make a copy of the kwargs dictonary since we will modify it
154154
kwargs=dict(kwargs)
155155

156+
# Check to see if legacy 'Plot' keyword was used
157+
if'Plot'inkwargs:
158+
importwarnings
159+
warnings.warn("'Plot' keyword is deprecated in bode_plot; use 'plot'",
160+
FutureWarning)
161+
# Map 'Plot' keyword to 'plot' keyword
162+
plot=kwargs.pop('Plot')
163+
156164
# Get values for params (and pop from list to allow keyword use in plot)
157165
dB=config._get_param('bode','dB',kwargs,_bode_defaults,pop=True)
158166
deg=config._get_param('bode','deg',kwargs,_bode_defaults,pop=True)
159167
Hz=config._get_param('bode','Hz',kwargs,_bode_defaults,pop=True)
160168
grid=config._get_param('bode','grid',kwargs,_bode_defaults,pop=True)
161-
Plot=config._get_param('bode','grid',Plot,True)
169+
plot=config._get_param('bode','grid',plot,True)
162170
margins=config._get_param('bode','margins',margins,False)
163171

164172
# If argument was a singleton, turn it into a list
@@ -211,7 +219,7 @@ def bode_plot(syslist, omega=None,
211219
# Get the dimensions of the current axis, which we will divide up
212220
# TODO: Not current implemented; just use subplot for now
213221

214-
ifPlot:
222+
ifplot:
215223
nyquistfrq_plot=None
216224
ifHz:
217225
omega_plot=omega_sys/ (2.*math.pi)
@@ -429,12 +437,13 @@ def gen_zero_centered_series(val_min, val_max, period):
429437
else:
430438
returnmags,phases,omegas
431439

440+
432441
#
433442
# Nyquist plot
434443
#
435444

436-
defnyquist_plot(syslist,omega=None,Plot=True,
437-
labelFreq=0,arrowhead_length=0.1,arrowhead_width=0.1,
445+
defnyquist_plot(syslist,omega=None,plot=True,label_freq=0,
446+
arrowhead_length=0.1,arrowhead_width=0.1,
438447
color=None,*args,**kwargs):
439448
"""
440449
Nyquist plot for a system
@@ -451,13 +460,13 @@ def nyquist_plot(syslist, omega=None, Plot=True,
451460
If True, plot magnitude
452461
color : string
453462
Used to specify the color of the plot
454-
labelFreq : int
463+
label_freq : int
455464
Label every nth frequency on the plot
456465
arrowhead_width : arrow head width
457466
arrowhead_length : arrow head length
458-
*args
459-
Additional arguments for:func:`matplotlib.plot` (color, linestyle, etc)
460-
**kwargs:
467+
*args : `matplotlib` plot positional properties, optional
468+
Additional arguments for `matplotlib` plots (color, linestyle, etc)
469+
**kwargs : `matplotlib` plot keyword properties, optional
461470
Additional keywords (passed to `matplotlib`)
462471
463472
Returns
@@ -475,6 +484,22 @@ def nyquist_plot(syslist, omega=None, Plot=True,
475484
>>> real, imag, freq = nyquist_plot(sys)
476485
477486
"""
487+
# Check to see if legacy 'Plot' keyword was used
488+
if'Plot'inkwargs:
489+
importwarnings
490+
warnings.warn("'Plot' keyword is deprecated in nyquist_plot; "
491+
"use 'plot'",FutureWarning)
492+
# Map 'Plot' keyword to 'plot' keyword
493+
plot=kwargs.pop('Plot')
494+
495+
# Check to see if legacy 'labelFreq' keyword was used
496+
if'labelFreq'inkwargs:
497+
importwarnings
498+
warnings.warn("'labelFreq' keyword is deprecated in nyquist_plot; "
499+
"use 'label_freq'",FutureWarning)
500+
# Map 'labelFreq' keyword to 'label_freq' keyword
501+
label_freq=kwargs.pop('labelFreq')
502+
478503
# If argument was a singleton, turn it into a list
479504
ifnotgetattr(syslist,'__iter__',False):
480505
syslist= (syslist,)
@@ -507,7 +532,7 @@ def nyquist_plot(syslist, omega=None, Plot=True,
507532
x=sp.multiply(mag,sp.cos(phase))
508533
y=sp.multiply(mag,sp.sin(phase))
509534

510-
ifPlot:
535+
ifplot:
511536
# Plot the primary curve and mirror image
512537
p=plt.plot(x,y,'-',color=color,*args,**kwargs)
513538
c=p[0].get_color()
@@ -527,8 +552,8 @@ def nyquist_plot(syslist, omega=None, Plot=True,
527552
plt.plot([-1], [0],'r+')
528553

529554
# Label the frequencies of the points
530-
iflabelFreq:
531-
ind=slice(None,None,labelFreq)
555+
iflabel_freq:
556+
ind=slice(None,None,label_freq)
532557
forxpt,ypt,omegaptinzip(x[ind],y[ind],omega[ind]):
533558
# Convert to Hz
534559
f=omegapt/ (2*sp.pi)
@@ -550,14 +575,15 @@ def nyquist_plot(syslist, omega=None, Plot=True,
550575
str(int(np.round(f/1000**pow1000,0)))+' '+
551576
prefix+'Hz')
552577

553-
ifPlot:
578+
ifplot:
554579
ax=plt.gca()
555580
ax.set_xlabel("Real axis")
556581
ax.set_ylabel("Imaginary axis")
557582
ax.grid(color="lightgray")
558583

559584
returnx,y,omega
560585

586+
561587
#
562588
# Gang of Four plot
563589
#
@@ -575,6 +601,8 @@ def gangof4_plot(P, C, omega=None, **kwargs):
575601
Linear input/output systems (process and control)
576602
omega : array
577603
Range of frequencies (list or bounds) in rad/sec
604+
**kwargs : `matplotlib` plot keyword properties, optional
605+
Additional keywords (passed to `matplotlib`)
578606
579607
Returns
580608
-------
@@ -590,16 +618,16 @@ def gangof4_plot(P, C, omega=None, **kwargs):
590618
Hz=config._get_param('bode','Hz',kwargs,_bode_defaults,pop=True)
591619
grid=config._get_param('bode','grid',kwargs,_bode_defaults,pop=True)
592620

593-
# Select a default range if none is provided
594-
# TODO: This needs to be made more intelligent
595-
ifomegaisNone:
596-
omega=default_frequency_range((P,C))
597-
598621
# Compute the senstivity functions
599622
L=P*C
600623
S=feedback(1,L)
601624
T=L*S
602625

626+
# Select a default range if none is provided
627+
# TODO: This needs to be made more intelligent
628+
ifomegaisNone:
629+
omega=default_frequency_range((P,C,S))
630+
603631
# Set up the axes with labels so that multiple calls to
604632
# gangof4_plot will superimpose the data. See details in bode_plot.
605633
plot_axes= {'t':None,'s':None,'ps':None,'cs':None}
@@ -628,36 +656,49 @@ def gangof4_plot(P, C, omega=None, **kwargs):
628656
# TODO: Need to add in the mag = 1 lines
629657
mag_tmp,phase_tmp,omega=S.freqresp(omega)
630658
mag=np.squeeze(mag_tmp)
631-
plot_axes['s'].loglog(omega_plot,20*np.log10(mag)ifdBelsemag)
632-
plot_axes['s'].set_ylabel("$|S|$")
659+
ifdB:
660+
plot_axes['s'].semilogx(omega_plot,20*np.log10(mag),**kwargs)
661+
else:
662+
plot_axes['s'].loglog(omega_plot,mag,**kwargs)
663+
plot_axes['s'].set_ylabel("$|S|$"+" (dB)"ifdBelse"")
633664
plot_axes['s'].tick_params(labelbottom=False)
634665
plot_axes['s'].grid(grid,which='both')
635666

636667
mag_tmp,phase_tmp,omega= (P*S).freqresp(omega)
637668
mag=np.squeeze(mag_tmp)
638-
plot_axes['ps'].loglog(omega_plot,20*np.log10(mag)ifdBelsemag)
669+
ifdB:
670+
plot_axes['ps'].semilogx(omega_plot,20*np.log10(mag),**kwargs)
671+
else:
672+
plot_axes['ps'].loglog(omega_plot,mag,**kwargs)
639673
plot_axes['ps'].tick_params(labelbottom=False)
640-
plot_axes['ps'].set_ylabel("$|PS|$")
674+
plot_axes['ps'].set_ylabel("$|PS|$"+" (dB)"ifdBelse"")
641675
plot_axes['ps'].grid(grid,which='both')
642676

643677
mag_tmp,phase_tmp,omega= (C*S).freqresp(omega)
644678
mag=np.squeeze(mag_tmp)
645-
plot_axes['cs'].loglog(omega_plot,20*np.log10(mag)ifdBelsemag)
679+
ifdB:
680+
plot_axes['cs'].semilogx(omega_plot,20*np.log10(mag),**kwargs)
681+
else:
682+
plot_axes['cs'].loglog(omega_plot,mag,**kwargs)
646683
plot_axes['cs'].set_xlabel(
647684
"Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
648-
plot_axes['cs'].set_ylabel("$|CS|$")
685+
plot_axes['cs'].set_ylabel("$|CS|$"+" (dB)"ifdBelse"")
649686
plot_axes['cs'].grid(grid,which='both')
650687

651688
mag_tmp,phase_tmp,omega=T.freqresp(omega)
652689
mag=np.squeeze(mag_tmp)
653-
plot_axes['t'].loglog(omega_plot,20*np.log10(mag)ifdBelsemag)
690+
ifdB:
691+
plot_axes['t'].semilogx(omega_plot,20*np.log10(mag),**kwargs)
692+
else:
693+
plot_axes['t'].loglog(omega_plot,mag,**kwargs)
654694
plot_axes['t'].set_xlabel(
655695
"Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
656-
plot_axes['t'].set_ylabel("$|T|$")
696+
plot_axes['t'].set_ylabel("$|T|$"+" (dB)"ifdBelse"")
657697
plot_axes['t'].grid(grid,which='both')
658698

659699
plt.tight_layout()
660700

701+
661702
#
662703
# Utility functions
663704
#
@@ -754,7 +795,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None,
754795
# TODO
755796
raiseNotImplementedError(
756797
"type of system in not implemented now")
757-
except:
798+
exceptNotImplementedError:
758799
pass
759800

760801
# Make sure there is at least one point in the range
@@ -787,15 +828,17 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None,
787828
omega=sp.logspace(lsp_min,lsp_max,endpoint=True)
788829
returnomega
789830

831+
790832
#
791-
#KLD 5/23/11: Twofunctions to create nice looking labels
833+
#Utilityfunctions to create nice looking labels (KLD 5/23/11)
792834
#
793835

794836
defget_pow1000(num):
795837
"""Determine exponent for which significand of a number is within the
796838
range [1, 1000).
797839
"""
798-
# Based on algorithm from http://www.mail-archive.com/matplotlib-users@lists.sourceforge.net/msg14433.html, accessed 2010/11/7
840+
# Based on algorithm from http://www.mail-archive.com/
841+
# matplotlib-users@lists.sourceforge.net/msg14433.html, accessed 2010/11/7
799842
# by Jason Heeris 2009/11/18
800843
fromdecimalimportDecimal
801844
frommathimportfloor

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