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Commit908fabe

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Merge pull request#209 from icam0/sisotool_final
Sisotool and dynamic root locus zoom
2 parents626c459 +17c4a95 commit908fabe

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7 files changed

+632
-113
lines changed

7 files changed

+632
-113
lines changed

‎control/__init__.py

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -67,6 +67,7 @@
6767
from .canonicalimport*
6868
from .robustimport*
6969
from .configimport*
70+
from .sisotoolimport*
7071

7172
# Exceptions
7273
from .exceptionimport*

‎control/freqplot.py

Lines changed: 129 additions & 55 deletions
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@
4040
# SUCH DAMAGE.
4141
#
4242
# $Id$
43-
43+
importmatplotlib
4444
importmatplotlib.pyplotasplt
4545
importscipyassp
4646
importnumpyasnp
@@ -89,7 +89,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
8989
omega_num: int
9090
number of samples
9191
margins : boolean
92-
if True, plot gain and phase margin
92+
If True, plot gain and phase margin
9393
\*args, \**kwargs:
9494
Additional options to matplotlib (color, linestyle, etc)
9595
@@ -193,23 +193,35 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
193193
# The code below should work on all cases.
194194

195195
# Get the current figure
196-
fig=plt.gcf()
197-
ax_mag=None
198-
ax_phase=None
199-
200-
# Get the current axes if they already exist
201-
foraxinfig.axes:
202-
ifax.get_label()=='control-bode-magnitude':
203-
ax_mag=ax
204-
elifax.get_label()=='control-bode-phase':
205-
ax_phase=ax
206-
207-
# If no axes present, create them from scratch
208-
ifax_magisNoneorax_phaseisNone:
209-
plt.clf()
210-
ax_mag=plt.subplot(211,label='control-bode-magnitude')
211-
ax_phase=plt.subplot(212,label='control-bode-phase',
212-
sharex=ax_mag)
196+
197+
if'sisotool'inkwargs:
198+
fig=kwargs['fig']
199+
ax_mag=fig.axes[0]
200+
ax_phase=fig.axes[2]
201+
sisotool=kwargs['sisotool']
202+
delkwargs['fig']
203+
delkwargs['sisotool']
204+
else:
205+
fig=plt.gcf()
206+
ax_mag=None
207+
ax_phase=None
208+
sisotool=False
209+
210+
# Get the current axes if they already exist
211+
foraxinfig.axes:
212+
ifax.get_label()=='control-bode-magnitude':
213+
ax_mag=ax
214+
elifax.get_label()=='control-bode-phase':
215+
ax_phase=ax
216+
217+
# If no axes present, create them from scratch
218+
ifax_magisNoneorax_phaseisNone:
219+
plt.clf()
220+
ax_mag=plt.subplot(211,
221+
label='control-bode-magnitude')
222+
ax_phase=plt.subplot(212,
223+
label='control-bode-phase',
224+
sharex=ax_mag)
213225

214226
# Magnitude plot
215227
ifdB:
@@ -237,58 +249,107 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
237249
ifmargins:
238250
margin=stability_margins(sys)
239251
gm,pm,Wcg,Wcp=margin[0],margin[1],margin[3],margin[4]
240-
ifpm>=0.:
241-
phase_limit=-180.
242-
else:
252+
# TODO: add some documentation describing why this is here
253+
phase_at_cp=phases[0][(np.abs(omegas[0]-Wcp)).argmin()]
254+
ifphase_at_cp>=0.:
243255
phase_limit=180.
256+
else:
257+
phase_limit=-180.
258+
259+
ifHz:
260+
Wcg,Wcp=Wcg/(2*math.pi),Wcp/(2*math.pi)
244261

245-
ax_mag.axhline(y=0ifdBelse1,color='k',linestyle=':')
262+
ax_mag.axhline(y=0ifdBelse1,color='k',linestyle=':',
263+
zorder=-20)
246264
ax_phase.axhline(y=phase_limitifdegelsemath.radians(phase_limit),
247-
color='k',linestyle=':')
265+
color='k',linestyle=':',zorder=-20)
248266
mag_ylim=ax_mag.get_ylim()
249267
phase_ylim=ax_phase.get_ylim()
250268

251269
ifpm!=float('inf')andWcp!=float('nan'):
252270
ifdB:
253-
ax_mag.semilogx([Wcp,Wcp], [0.,-1e5],color='k',linestyle=':')
271+
ax_mag.semilogx([Wcp,Wcp], [0.,-1e5],
272+
color='k',linestyle=':',
273+
zorder=-20)
254274
else:
255-
ax_mag.loglog([Wcp,Wcp], [1.,1e-8],color='k',linestyle=':')
275+
ax_mag.loglog([Wcp,Wcp], [1.,1e-8],color='k',
276+
linestyle=':',zorder=-20)
256277

257278
ifdeg:
258-
ax_phase.semilogx([Wcp,Wcp], [1e5,phase_limit+pm],
259-
color='k',linestyle=':')
260-
ax_phase.semilogx([Wcp,Wcp], [phase_limit+pm,phase_limit],
261-
color='k')
279+
ax_phase.semilogx([Wcp,Wcp],
280+
[1e5,phase_limit+pm],
281+
color='k',linestyle=':',
282+
zorder=-20)
283+
ax_phase.semilogx([Wcp,Wcp],
284+
[phase_limit+pm,phase_limit],
285+
color='k',zorder=-20)
262286
else:
263-
ax_phase.semilogx([Wcp,Wcp], [1e5,math.radians(phase_limit)+
264-
math.radians(pm)],
265-
color='k',linestyle=':')
266-
ax_phase.semilogx([Wcp,Wcp], [math.radians(phase_limit)+
267-
math.radians(pm),
268-
math.radians(phase_limit)],color='k')
287+
ax_phase.semilogx([Wcp,Wcp],
288+
[1e5,math.radians(phase_limit)+
289+
math.radians(pm)],
290+
color='k',linestyle=':',
291+
zorder=-20)
292+
ax_phase.semilogx([Wcp,Wcp],
293+
[math.radians(phase_limit)+
294+
math.radians(pm),
295+
math.radians(phase_limit)],
296+
color='k',zorder=-20)
269297

270298
ifgm!=float('inf')andWcg!=float('nan'):
271299
ifdB:
272-
ax_mag.semilogx([Wcg,Wcg], [-20.*np.log10(gm),-1e5],color='k',
273-
linestyle=':')
274-
ax_mag.semilogx([Wcg,Wcg], [0,-20*np.log10(gm)],color='k')
300+
ax_mag.semilogx([Wcg,Wcg],
301+
[-20.*np.log10(gm),-1e5],
302+
color='k',linestyle=':',
303+
zorder=-20)
304+
ax_mag.semilogx([Wcg,Wcg], [0,-20*np.log10(gm)],
305+
color='k',zorder=-20)
275306
else:
276-
ax_mag.loglog([Wcg,Wcg], [1./gm,1e-8],color='k',linestyle=':')
277-
ax_mag.loglog([Wcg,Wcg], [1.,1./gm],color='k')
307+
ax_mag.loglog([Wcg,Wcg],
308+
[1./gm,1e-8],color='k',
309+
linestyle=':',zorder=-20)
310+
ax_mag.loglog([Wcg,Wcg],
311+
[1.,1./gm],color='k',zorder=-20)
278312

279313
ifdeg:
280-
ax_phase.semilogx([Wcg,Wcg], [1e-8,phase_limit],
281-
color='k',linestyle=':')
314+
ax_phase.semilogx([Wcg,Wcg], [1e-8,phase_limit],
315+
color='k',linestyle=':',
316+
zorder=-20)
282317
else:
283-
ax_phase.semilogx([Wcg,Wcg], [1e-8,math.radians(phase_limit)],
284-
color='k',linestyle=':')
318+
ax_phase.semilogx([Wcg,Wcg],
319+
[1e-8,math.radians(phase_limit)],
320+
color='k',linestyle=':',
321+
zorder=-20)
285322

286323
ax_mag.set_ylim(mag_ylim)
287324
ax_phase.set_ylim(phase_ylim)
288-
plt.suptitle('Gm = %.2f %s(at %.2f rad/s), Pm = %.2f %s (at %.2f rad/s)'%
289-
(20*np.log10(gm)ifdBelsegm,
290-
'dB 'ifdBelse'\b',Wcg,pmifdegelsemath.radians(pm),
291-
'deg'ifdegelse'rad',Wcp))
325+
326+
ifsisotool:
327+
ax_mag.text(0.04,0.06,
328+
'G.M.: %.2f %s\nFreq: %.2f %s'%
329+
(20*np.log10(gm)ifdBelsegm,
330+
'dB 'ifdBelse'',
331+
Wcg,'Hz'ifHzelse'rad/s'),
332+
horizontalalignment='left',
333+
verticalalignment='bottom',
334+
transform=ax_mag.transAxes,
335+
fontsize=8ifint(matplotlib.__version__[0])==1else6)
336+
ax_phase.text(0.04,0.06,
337+
'P.M.: %.2f %s\nFreq: %.2f %s'%
338+
(pmifdegelsemath.radians(pm),
339+
'deg'ifdegelse'rad',
340+
Wcp,'Hz'ifHzelse'rad/s'),
341+
horizontalalignment='left',
342+
verticalalignment='bottom',
343+
transform=ax_phase.transAxes,
344+
fontsize=8ifint(matplotlib.__version__[0])==1else6)
345+
else:
346+
plt.suptitle('Gm = %.2f %s(at %.2f %s), Pm = %.2f %s (at %.2f %s)'%
347+
(20*np.log10(gm)ifdBelsegm,
348+
'dB 'ifdBelse'\b',
349+
Wcg,'Hz'ifHzelse'rad/s',
350+
pmifdegelsemath.radians(pm),
351+
'deg'ifdegelse'rad',
352+
Wcp,'Hz'ifHzelse'rad/s'))
292353

293354
ifnyquistfrq_plot:
294355
ax_phase.axvline(nyquistfrq_plot,color=pltline[0].get_color())
@@ -302,12 +363,19 @@ def gen_zero_centered_series(val_min, val_max, period):
302363
returnnp.arange(v1,v2+1)*period
303364
ifdeg:
304365
ylim=ax_phase.get_ylim()
305-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],45.))
306-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],15.),minor=True)
366+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
367+
ylim[1],45.))
368+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
369+
ylim[1],15.),
370+
minor=True)
307371
else:
308372
ylim=ax_phase.get_ylim()
309-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],math.pi/4.))
310-
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],ylim[1],math.pi/12.),
373+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
374+
ylim[1],
375+
math.pi/4.))
376+
ax_phase.set_yticks(gen_zero_centered_series(ylim[0],
377+
ylim[1],
378+
math.pi/12.),
311379
minor=True)
312380
ax_phase.grid(FalseifmarginselseTrue,which='both')
313381
# ax_mag.grid(which='minor', alpha=0.3)
@@ -316,15 +384,17 @@ def gen_zero_centered_series(val_min, val_max, period):
316384
# ax_phase.grid(which='major', alpha=0.9)
317385

318386
# Label the frequency axis
319-
ax_phase.set_xlabel("Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
387+
ax_phase.set_xlabel("Frequency (Hz)"ifHz
388+
else"Frequency (rad/sec)")
320389

321390
iflen(syslist)==1:
322391
returnmags[0],phases[0],omegas[0]
323392
else:
324393
returnmags,phases,omegas
325394

326395

327-
defnyquist_plot(syslist,omega=None,Plot=True,color=None,labelFreq=0,*args,**kwargs):
396+
defnyquist_plot(syslist,omega=None,Plot=True,color=None,
397+
labelFreq=0,*args,**kwargs):
328398
"""
329399
Nyquist plot for a system
330400
@@ -683,6 +753,10 @@ def gen_prefix(pow1000):
683753
'z',# zepto (10^-21)
684754
'y'][8-pow1000]# yocto (10^-24)
685755

756+
deffind_nearest_omega(omega_list,omega):
757+
omega_list=np.asarray(omega_list)
758+
idx= (np.abs(omega_list-omega)).argmin()
759+
returnomega_list[(np.abs(omega_list-omega)).argmin()]
686760

687761
# Function aliases
688762
bode=bode_plot

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