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Fix step_info settling time calculation#1029

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51 changes: 47 additions & 4 deletionscontrol/tests/timeresp_test.py
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Original file line numberDiff line numberDiff line change
@@ -1,18 +1,19 @@
"""timeresp_test.py - test time response functions"""

from copy import copy
from math import isclose

import numpy as np
import pytest
import scipy as sp

import control as ct
from control import StateSpace, TransferFunction, c2d, isctime, ss2tf, tf2ss
from control.exception importslycot_check, pandas_check
from control.exception importpandas_check, slycot_check
from control.tests.conftest import slycotonly
from control.timeresp import(_default_time_vector, _ideal_tfinal_and_dt,
forced_response, impulse_response,
initial_response, step_info,step_response)
from control.timeresp import _default_time_vector, _ideal_tfinal_and_dt, \
forced_response, impulse_response, initial_response, step_info, \
step_response


class TSys:
Expand DownExpand Up@@ -1275,3 +1276,45 @@ def test_no_pandas():
# Convert to pandas
with pytest.raises(ImportError, match="pandas"):
df = resp.to_pandas()


# https://github.com/python-control/python-control/issues/1014
def test_step_info_nonstep():
# Pass a constant input
timepts = np.linspace(0, 10, endpoint=False)
y_const = np.ones_like(timepts)

# Constant value of 1
step_info = ct.step_info(y_const, timepts)
assert step_info['RiseTime'] == 0
assert step_info['SettlingTime'] == 0
assert step_info['SettlingMin'] == 1
assert step_info['SettlingMax'] == 1
assert step_info['Overshoot'] == 0
assert step_info['Undershoot'] == 0
assert step_info['Peak'] == 1
assert step_info['PeakTime'] == 0
assert step_info['SteadyStateValue'] == 1

# Constant value of -1
step_info = ct.step_info(-y_const, timepts)
assert step_info['RiseTime'] == 0
assert step_info['SettlingTime'] == 0
assert step_info['SettlingMin'] == -1
assert step_info['SettlingMax'] == -1
assert step_info['Overshoot'] == 0
assert step_info['Undershoot'] == 0
assert step_info['Peak'] == 1
assert step_info['PeakTime'] == 0
assert step_info['SteadyStateValue'] == -1

# Ramp from -1 to 1
step_info = ct.step_info(-1 + 2 * timepts/10, timepts)
assert step_info['RiseTime'] == 3.8
assert step_info['SettlingTime'] == 9.8
assert isclose(step_info['SettlingMin'], 0.88)
assert isclose(step_info['SettlingMax'], 0.96)
assert step_info['Overshoot'] == 0
assert step_info['Peak'] == 1
assert step_info['PeakTime'] == 0
assert isclose(step_info['SteadyStateValue'], 0.96)
10 changes: 6 additions & 4 deletionscontrol/timeresp.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -1674,17 +1674,19 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None, params=None,

if not np.isnan(InfValue) and not np.isinf(InfValue):
# RiseTime
tr_lower_index = np.where(
tr_lower_index = np.nonzero(
sgnInf * (yout - RiseTimeLimits[0] * InfValue) >= 0
)[0][0]
tr_upper_index = np.where(
tr_upper_index = np.nonzero(
sgnInf * (yout - RiseTimeLimits[1] * InfValue) >= 0
)[0][0]
rise_time = T[tr_upper_index] - T[tr_lower_index]

# SettlingTime
settled = np.where(
np.abs(yout/InfValue-1) >= SettlingTimeThreshold)[0][-1]+1
outside_threshold = np.nonzero(
np.abs(yout/InfValue - 1) >= SettlingTimeThreshold)[0]
settled = 0 if outside_threshold.size == 0 \
else outside_threshold[-1] + 1
# MIMO systems can have unsettled channels without infinite
# InfValue
if settled < len(T):
Expand Down
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