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Commit5f34a7b

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Recommended changes from the linter
1 parentc17910f commit5f34a7b

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3 files changed

+15
-34
lines changed

3 files changed

+15
-34
lines changed

‎control/margins.py

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,8 +10,6 @@
1010

1111
importnumpyasnp
1212
importscipyassp
13-
importmatplotlib
14-
importmatplotlib.pyplotasplt
1513

1614
from .importfrdata,freqplot,xferfcn,statesp
1715
from .exceptionimportControlMIMONotImplemented
@@ -631,7 +629,7 @@ def disk_margins(L, omega, skew = 0.0, returnall = False):
631629
ifL.issiso()and (ab13md==None):
632630
# For the SISO case, the norm on (S + (skew - I)/2) is
633631
# unstructured, and can be computed as Bode magnitude
634-
DM[ii]=1.0/bode(ST_jw,omega=omega[ii],plot=False)[0]
632+
DM[ii]=1.0/ST_mag[ii]
635633
else:
636634
# For the MIMO case, the norm on (S + (skew - I)/2) assumes a
637635
# single complex uncertainty block diagonal uncertainty structure.

‎control/tests/margin_test.py

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -425,9 +425,6 @@ def test_siso_disk_margin_return_all():
425425
# Frequencies of interest
426426
omega=np.logspace(-1,2,1001)
427427

428-
# Laplace variable
429-
s=tf('s')
430-
431428
# Loop transfer function
432429
L=tf(25, [1,10,10,10])
433430

@@ -445,9 +442,6 @@ def test_mimo_disk_margin_return_all():
445442
# Frequencies of interest
446443
omega=np.logspace(-1,3,1001)
447444

448-
# Laplace variable
449-
s=tf('s')
450-
451445
# Loop transfer gain
452446
P=ss([[0,10],[-10,0]],np.eye(2),\
453447
[[1,10], [-10,1]], [[0,0],[0,0]])# plant

‎examples/disk_margins.py

Lines changed: 14 additions & 25 deletions
Original file line numberDiff line numberDiff line change
@@ -2,17 +2,12 @@
22
Demonstrate disk-based stability margin calculations.
33
"""
44

5-
importos,sys,math
6-
importnumpyasnp
7-
importcontrol
8-
5+
importos
96
importmath
10-
importmatplotlibasmpl
7+
importcontrol
8+
importmatplotlib
119
importmatplotlib.pyplotasplt
12-
fromwarningsimportwarn
13-
1410
importnumpyasnp
15-
importscipyassp
1611

1712
defplot_allowable_region(alpha_max,skew,ax=None):
1813
"""Plot region of allowable gain/phase variation, given worst-case disk margin.
@@ -122,19 +117,16 @@ def test_siso1():
122117
# Frequencies of interest
123118
omega=np.logspace(-1,2,1001)
124119

125-
# Laplace variable
126-
s=control.tf('s')
127-
128120
# Loop transfer gain
129121
L=control.tf(25, [1,10,10,10])
130122

131-
print(f"------------- Python control built-in (S) -------------")
123+
print("------------- Python control built-in (S) -------------")
132124
GM_,PM_,SM_=control.stability_margins(L)[:3]# python-control default (S-based...?)
133125
print(f"SM_ ={SM_}")
134126
print(f"GM_ ={GM_} dB")
135127
print(f"PM_ ={PM_} deg\n")
136128

137-
print(f"------------- Sensitivity function (S) -------------")
129+
print("------------- Sensitivity function (S) -------------")
138130
DM,GM,PM=control.disk_margins(L,omega,skew=1.0,returnall=True)# S-based (S)
139131
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
140132
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -173,7 +165,7 @@ def test_siso1():
173165
plt.ylim([0,90])
174166
plt.xlabel('Frequency (rad/s)')
175167

176-
print(f"------------- Complementary sensitivity function (T) -------------")
168+
print("------------- Complementary sensitivity function (T) -------------")
177169
DM,GM,PM=control.disk_margins(L,omega,skew=-1.0,returnall=True)# T-based (T)
178170
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
179171
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -212,7 +204,7 @@ def test_siso1():
212204
plt.ylim([0,90])
213205
plt.xlabel('Frequency (rad/s)')
214206

215-
print(f"------------- Balanced sensitivity function (S - T) -------------")
207+
print("------------- Balanced sensitivity function (S - T) -------------")
216208
DM,GM,PM=control.disk_margins(L,omega,skew=0.0,returnall=True)# balanced (S - T)
217209
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
218210
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -276,13 +268,13 @@ def test_siso2():
276268
# Loop transfer gain
277269
L= (6.25*(s+3)*(s+5))/(s*(s+1)**2*(s**2+0.18*s+100))
278270

279-
print(f"------------- Python control built-in (S) -------------")
271+
print("------------- Python control built-in (S) -------------")
280272
GM_,PM_,SM_=control.stability_margins(L)[:3]# python-control default (S-based...?)
281273
print(f"SM_ ={SM_}")
282274
print(f"GM_ ={GM_} dB")
283275
print(f"PM_ ={PM_} deg\n")
284276

285-
print(f"------------- Sensitivity function (S) -------------")
277+
print("------------- Sensitivity function (S) -------------")
286278
DM,GM,PM=control.disk_margins(L,omega,skew=1.0,returnall=True)# S-based (S)
287279
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
288280
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -321,7 +313,7 @@ def test_siso2():
321313
plt.ylim([0,90])
322314
plt.xlabel('Frequency (rad/s)')
323315

324-
print(f"------------- Complementary sensitivity function (T) -------------")
316+
print("------------- Complementary sensitivity function (T) -------------")
325317
DM,GM,PM=control.disk_margins(L,omega,skew=-1.0,returnall=True)# T-based (T)
326318
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
327319
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -360,7 +352,7 @@ def test_siso2():
360352
plt.ylim([0,90])
361353
plt.xlabel('Frequency (rad/s)')
362354

363-
print(f"------------- Balanced sensitivity function (S - T) -------------")
355+
print("------------- Balanced sensitivity function (S - T) -------------")
364356
DM,GM,PM=control.disk_margins(L,omega,skew=0.0,returnall=True)# balanced (S - T)
365357
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
366358
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -419,15 +411,12 @@ def test_mimo():
419411
# Frequencies of interest
420412
omega=np.logspace(-1,3,1001)
421413

422-
# Laplace variable
423-
s=control.tf('s')
424-
425414
# Loop transfer gain
426415
P=control.ss([[0,10],[-10,0]],np.eye(2), [[1,10], [-10,1]], [[0,0],[0,0]])# plant
427416
K=control.ss([],[],[], [[1,-2], [0,1]])# controller
428417
L=P*K# loop gain
429418

430-
print(f"------------- Sensitivity function (S) -------------")
419+
print("------------- Sensitivity function (S) -------------")
431420
DM,GM,PM=control.disk_margins(L,omega,skew=1.0,returnall=True)# S-based (S)
432421
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
433422
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -466,7 +455,7 @@ def test_mimo():
466455
plt.ylim([0,90])
467456
plt.xlabel('Frequency (rad/s)')
468457

469-
print(f"------------- Complementary sensitivity function (T) -------------")
458+
print("------------- Complementary sensitivity function (T) -------------")
470459
DM,GM,PM=control.disk_margins(L,omega,skew=-1.0,returnall=True)# T-based (T)
471460
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
472461
print(f"GM ={GM[np.argmin(DM)]} dB")
@@ -505,7 +494,7 @@ def test_mimo():
505494
plt.ylim([0,90])
506495
plt.xlabel('Frequency (rad/s)')
507496

508-
print(f"------------- Balanced sensitivity function (S - T) -------------")
497+
print("------------- Balanced sensitivity function (S - T) -------------")
509498
DM,GM,PM=control.disk_margins(L,omega,skew=0.0,returnall=True)# balanced (S - T)
510499
print(f"min(DM) ={min(DM)} (omega ={omega[np.argmin(DM)]})")
511500
print(f"GM ={GM[np.argmin(DM)]} dB")

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