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Commit73ce1a6

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allow specified frequency range to exceed nyquist frequency if desired
1 parent24d57e1 commit73ce1a6

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1 file changed

+48
-36
lines changed

1 file changed

+48
-36
lines changed

‎control/freqplot.py

Lines changed: 48 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -194,28 +194,25 @@ def bode_plot(syslist, omega=None,
194194
ifnothasattr(syslist,'__iter__'):
195195
syslist= (syslist,)
196196

197+
# decide whether to go above nyquist. freq
198+
omega_range_given=TrueifomegaisnotNoneelseFalse
197199

198200
ifomegaisNone:
199-
omega_was_given=False# used do decide whether to include nyq. freq
201+
omega_num=config._get_param('freqplot','number_of_samples',omega_num)
200202
ifomega_limitsisNone:
201203
# Select a default range if none is provided
202-
omega=_default_frequency_range(syslist,Hz=Hz,
203-
number_of_samples=omega_num)
204+
omega=_default_frequency_range(syslist,
205+
number_of_samples=omega_num)
204206
else:
207+
omega_range_given=True
205208
omega_limits=np.asarray(omega_limits)
206209
iflen(omega_limits)!=2:
207210
raiseValueError("len(omega_limits) must be 2")
208211
ifHz:
209212
omega_limits*=2.*math.pi
210-
ifomega_num:
211-
num=omega_num
212-
else:
213-
num=config.defaults['freqplot.number_of_samples']
214213
omega=np.logspace(np.log10(omega_limits[0]),
215-
np.log10(omega_limits[1]),num=num,
214+
np.log10(omega_limits[1]),num=omega_num,
216215
endpoint=True)
217-
else:
218-
omega_was_given=True
219216

220217
ifplot:
221218
# Set up the axes with labels so that multiple calls to
@@ -264,12 +261,11 @@ def bode_plot(syslist, omega=None,
264261
else:
265262
omega_sys=np.asarray(omega)
266263
ifsys.isdtime(strict=True):
267-
nyquistfrq=2.*math.pi*1./sys.dt/2.
268-
ifnotomega_was_given:
269-
#include nyquist frequency
264+
nyquistfrq=math.pi/sys.dt
265+
ifnotomega_range_given:
266+
#limit up to and including nyquist frequency
270267
omega_sys=np.hstack((
271-
omega_sys[omega_sys<nyquistfrq],
272-
nyquistfrq))
268+
omega_sys[omega_sys<nyquistfrq],nyquistfrq))
273269
else:
274270
nyquistfrq=None
275271

@@ -332,21 +328,27 @@ def bode_plot(syslist, omega=None,
332328
nyquistfrq_plot=nyquistfrq
333329
phase_plot=phase*180./math.piifdegelsephase
334330
mag_plot=mag
335-
#
336-
# Magnitude plot
337-
#
338331

339332
ifnyquistfrq_plot:
340-
# add data for vertical nyquist freq indicator line
341-
# so it is a single plot action. This preserves line
342-
# order when creating legend eg. legend('sys1', 'sys2)
343-
omega_plot=np.hstack((omega_plot,nyquistfrq,nyquistfrq))
344-
mag_plot=np.hstack((mag_plot,
345-
0.7*min(mag_plot),1.3*max(mag_plot)))
333+
# append data for vertical nyquist freq indicator line.
334+
# if this extra nyquist lime is is plotted in a single plot
335+
# command then line order is preserved when
336+
# creating a legend eg. legend(('sys1', 'sys2'))
337+
omega_nyq_line=np.array((np.nan,nyquistfrq,nyquistfrq))
338+
omega_plot=np.hstack((omega_plot,omega_nyq_line))
339+
mag_nyq_line=np.array((
340+
np.nan,0.7*min(mag_plot),1.3*max(mag_plot)))
341+
mag_plot=np.hstack((mag_plot,mag_nyq_line))
346342
phase_range=max(phase_plot)-min(phase_plot)
347-
phase_plot=np.hstack((phase_plot,
343+
phase_nyq_line=np.array((np.nan,
348344
min(phase_plot)-0.2*phase_range,
349345
max(phase_plot)+0.2*phase_range))
346+
phase_plot=np.hstack((phase_plot,phase_nyq_line))
347+
348+
#
349+
# Magnitude plot
350+
#
351+
350352
ifdB:
351353
ax_mag.semilogx(omega_plot,20*np.log10(mag_plot),
352354
*args,**kwargs)
@@ -535,8 +537,8 @@ def nyquist_plot(syslist, omega=None, plot=True, omega_limits=None,
535537
omega : array_like
536538
Set of frequencies to be evaluated in rad/sec.
537539
omega_limits : array_like of two values
538-
Limits to the range of frequencies. Ignored if omega
539-
is provided, and auto-generated if omitted.
540+
Limits to the range of frequencies. Ignored if omega
541+
is provided, and auto-generated if omitted.
540542
omega_num : int
541543
Number of samples to plot. Defaults to
542544
config.defaults['freqplot.number_of_samples'].
@@ -588,33 +590,43 @@ def nyquist_plot(syslist, omega=None, plot=True, omega_limits=None,
588590
ifnothasattr(syslist,'__iter__'):
589591
syslist= (syslist,)
590592

591-
# Select a default range if none is provided
593+
# decide whether to go above nyquist. freq
594+
omega_range_given=TrueifomegaisnotNoneelseFalse
595+
592596
ifomegaisNone:
597+
omega_num=config._get_param('freqplot','number_of_samples',omega_num)
593598
ifomega_limitsisNone:
594599
# Select a default range if none is provided
595-
omega=_default_frequency_range(syslist,Hz=False,
596-
number_of_samples=omega_num)
600+
omega=_default_frequency_range(syslist,
601+
number_of_samples=omega_num)
597602
else:
603+
omega_range_given=True
598604
omega_limits=np.asarray(omega_limits)
599605
iflen(omega_limits)!=2:
600606
raiseValueError("len(omega_limits) must be 2")
601-
num= \
602-
ct.config._get_param('freqplot','number_of_samples',omega_num)
603607
omega=np.logspace(np.log10(omega_limits[0]),
604-
np.log10(omega_limits[1]),num=num,
608+
np.log10(omega_limits[1]),num=omega_num,
605609
endpoint=True)
606610

607611
xs,ys,omegas= [], [], []
608612
forsysinsyslist:
609-
mag,phase,omega=sys.frequency_response(omega)
613+
omega_sys=np.asarray(omega)
614+
ifsys.isdtime(strict=True):
615+
nyquistfrq=math.pi/sys.dt
616+
ifnotomega_range_given:
617+
# limit up to and including nyquist frequency
618+
omega_sys=np.hstack((
619+
omega_sys[omega_sys<nyquistfrq],nyquistfrq))
620+
621+
mag,phase,omega_sys=sys.frequency_response(omega_sys)
610622

611623
# Compute the primary curve
612624
x=mag*np.cos(phase)
613625
y=mag*np.sin(phase)
614626

615627
xs.append(x)
616628
ys.append(y)
617-
omegas.append(omega)
629+
omegas.append(omega_sys)
618630

619631
ifplot:
620632
ifnotsys.issiso():
@@ -642,7 +654,7 @@ def nyquist_plot(syslist, omega=None, plot=True, omega_limits=None,
642654
# Label the frequencies of the points
643655
iflabel_freq:
644656
ind=slice(None,None,label_freq)
645-
forxpt,ypt,omegaptinzip(x[ind],y[ind],omega[ind]):
657+
forxpt,ypt,omegaptinzip(x[ind],y[ind],omega_sys[ind]):
646658
# Convert to Hz
647659
f=omegapt/ (2*np.pi)
648660

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