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Merge pull request#989 from murrayrm/update_rlocus_kvect-04Apr2024

Update documentation, processing of root_locus kvect keyword

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control
- rlocus.py
- tests
  - rlocus_test.py

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`‎control/rlocus.py`

Lines changed: 15 additions & 13 deletions

Original file line number	Diff line number	Diff line change
`@@ -42,15 +42,15 @@ def root_locus_map(sysdata, gains=None):`
`42`	`42`	`"""Compute the root locus map for an LTI system.`
`43`	`43`
`44`	`44`	`Calculate the root locus by finding the roots of 1 + k * G(s) where G`
`45`		`- is a linear system with transfer function num(s)/den(s) and each k is`
`46`		`- an element of kvect.`
	`45`	`+ is a linear system and k varies over a range of gains.`
`47`	`46`
`48`	`47`	`Parameters`
`49`	`48`	`----------`
`50`	`49`	`sys : LTI system or list of LTI systems`
`51`	`50`	`Linear input/output systems (SISO only, for now).`
`52`	`51`	`gains : array_like, optional`
`53`		`- Gains to use in computing plot of closed-loop poles.`
	`52`	`+ Gains to use in computing plot of closed-loop poles. If not given,`
	`53`	`+ gains are chosen to include the main features of the root locus map.`
`54`	`54`
`55`	`55`	`Returns`
`56`	`56`	`-------`
`@@ -98,20 +98,20 @@ def root_locus_map(sysdata, gains=None):`
`98`	`98`
`99`	`99`
`100`	`100`	`defroot_locus_plot(`
`101`		`-sysdata,kvect=None,grid=None,plot=None,**kwargs):`
	`101`	`+sysdata,gains=None,grid=None,plot=None,**kwargs):`
`102`	`102`
`103`	`103`	`"""Root locus plot.`
`104`	`104`
`105`	`105`	`Calculate the root locus by finding the roots of 1 + k * G(s) where G`
`106`		`- is a linear system with transfer function num(s)/den(s) and each k is`
`107`		`- an element of kvect.`
	`106`	`+ is a linear system and k varies over a range of gains.`
`108`	`107`
`109`	`108`	`Parameters`
`110`	`109`	`----------`
`111`	`110`	`sysdata : PoleZeroMap or LTI object or list`
`112`	`111`	`Linear input/output systems (SISO only, for now).`
`113`		`- kvect : array_like, optional`
`114`		`- Gains to use in computing plot of closed-loop poles.`
	`112`	`+ gains : array_like, optional`
	`113`	`+ Gains to use in computing plot of closed-loop poles. If not given,`
	`114`	`+ gains are chosen to include the main features of the root locus map.`
`115`	`115`	`xlim : tuple or list, optional`
`116`	`116`	`Set limits of x axis, normally with tuple`
`117`	`117`	(see :doc:`matplotlib:api/axes_api`).
`@@ -145,10 +145,9 @@ def root_locus_plot(`
`145`	`145`	`* lines[idx, 2]: loci`
`146`	`146`
`147`	`147`	`roots, gains : ndarray`
`148`		- (legacy) If the `plot` keyword is given, returns the
`149`		`- closed-loop root locations, arranged such that each row`
`150`		`- corresponds to a gain in gains, and the array of gains (ame as`
`151`		`- kvect keyword argument if provided).`
	`148`	+ (legacy) If the `plot` keyword is given, returns the closed-loop
	`149`	`+ root locations, arranged such that each row corresponds to a gain,`
	`150`	+ and the array of gains (same as `gains` keyword argument if provided).
`152`	`151`
`153`	`152`	`Notes`
`154`	`153`	`-----`
`@@ -160,13 +159,16 @@ def root_locus_plot(`
`160`	`159`	`"""`
`161`	`160`	`from .pzmapimportpole_zero_plot`
`162`	`161`
	`162`	`+# Legacy parameters`
	`163`	`+gains=config._process_legacy_keyword(kwargs,'kvect','gains',gains)`
	`164`	`+`
`163`	`165`	`# Set default parameters`
`164`	`166`	`grid=config._get_param('rlocus','grid',grid,_rlocus_defaults)`
`165`	`167`
`166`	`168`	`ifisinstance(sysdata,list)andall(`
`167`	`169`	`[isinstance(sys,LTI)forsysinsysdata])or \`
`168`	`170`	`isinstance(sysdata,LTI):`
`169`		`-responses=root_locus_map(sysdata,gains=kvect)`
	`171`	`+responses=root_locus_map(sysdata,gains=gains)`
`170`	`172`	`else:`
`171`	`173`	`responses=sysdata`
`172`	`174`

`‎control/tests/rlocus_test.py`

Lines changed: 7 additions & 0 deletions

Original file line number	Diff line number	Diff line change
`@@ -180,6 +180,13 @@ def test_root_locus_plots(sys, grid, xlim, ylim, interactive):`
`180`	`180`	`# TODO: add tests to make sure everything "looks" OK`
`181`	`181`
`182`	`182`
	`183`	`+# Test deprecated keywords`
	`184`	`+deftest_root_locus_legacy():`
	`185`	`+sys=ct.rss(2,1,1)`
	`186`	`+withpytest.warns(DeprecationWarning,match="'kvect' is deprecated"):`
	`187`	`+ct.root_locus_plot(sys,kvect=[0,1,2])`
	`188`	`+`
	`189`	`+`
`183`	`190`	`# Generate plots used in documentation`
`184`	`191`	`deftest_root_locus_documentation(savefigs=False):`
`185`	`192`	`plt.figure()`

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`‎control/rlocus.py`

`‎control/tests/rlocus_test.py`

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