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Cover more of root_locus: dtime and sisotool#617

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Merged
murrayrm merged 3 commits intopython-control:masterfrombnavigator:cover-rlocus
Jun 16, 2021
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11 changes: 3 additions & 8 deletionscontrol/rlocus.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -137,7 +137,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
print_gain = config._get_param(
'rlocus', 'print_gain', print_gain, _rlocus_defaults)

sys_loop = sys if sys.issiso() else sys[0,0]
sys_loop = sys if sys.issiso() else sys[0,0]

# Convert numerator and denominator to polynomials if they aren't
(nump, denp) = _systopoly1d(sys_loop)
Expand DownExpand Up@@ -232,16 +232,11 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
ax.set_ylim(ylim)

# Draw the grid
if grid and sisotool:
if isdtime(sys, strict=True):
zgrid(ax=ax)
else:
_sgrid_func(fig=fig)
elif grid:
if grid:
if isdtime(sys, strict=True):
zgrid(ax=ax)
else:
_sgrid_func()
_sgrid_func(fig=fig if sisotool else None)
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Any idea why there are two different sgrid functions? there is this one and there is grid.sgrid. Maybe a different PR, but would be good to unify these and get the best of each of them.

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Apparently _sgrid_func() was removed in#193 but reintroduced through some merge gone wrong?

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else:
ax.axhline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
ax.axvline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
Expand Down
5 changes: 0 additions & 5 deletionscontrol/setup.py
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This file was deleted.

51 changes: 43 additions & 8 deletionscontrol/tests/rlocus_test.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -15,16 +15,25 @@
from control.bdalg import feedback


@pytest.mark.usefixtures("mplcleanup")
class TestRootLocus:
"""These are tests for the feedback function in rlocus.py."""

@pytest.fixture(params=[(TransferFunction, ([1, 2], [1, 2, 3])),
(StateSpace, ([[1., 4.], [3., 2.]],
[[1.], [-4.]],
[[1., 0.]], [[0.]]))],
ids=["tf", "ss"])
@pytest.fixture(params=[pytest.param((sysclass, sargs + (dt, )),
id=f"{systypename}-{dtstring}")
for sysclass, systypename, sargs in [
(TransferFunction, 'TF', ([1, 2],
[1, 2, 3])),
(StateSpace, 'SS', ([[1., 4.], [3., 2.]],
[[1.], [-4.]],
[[1., 0.]],
[[0.]])),
]
for dt, dtstring in [(0, 'ctime'),
(True, 'dtime')]
])
def sys(self, request):
"""Return some simple LTIsystem for testing"""
"""Return some simple LTIsystems for testing"""
# avoid construction during collection time: prevent unfiltered
# deprecation warning
sysfn, args = request.param
Expand All@@ -37,7 +46,7 @@ def check_cl_poles(self, sys, pole_list, k_list):
np.testing.assert_array_almost_equal(poles, poles_expected)

def testRootLocus(self, sys):
"""Basic root locus plot"""
"""Basic root locus(noplot)"""
klist = [-1, 0, 1]

roots, k_out = root_locus(sys, klist, plot=False)
Expand All@@ -49,6 +58,33 @@ def test_without_gains(self, sys):
roots, kvect = root_locus(sys, plot=False)
self.check_cl_poles(sys, roots, kvect)

@pytest.mark.parametrize('grid', [None, True, False])
def test_root_locus_plot_grid(self, sys, grid):
rlist, klist = root_locus(sys, grid=grid)
ax = plt.gca()
n_gridlines = sum([int(line.get_linestyle() in [':', 'dotted',
'--', 'dashed'])
for line in ax.lines])
if grid is False:
assert n_gridlines == 2
else:
assert n_gridlines > 2
# TODO check validity of grid

def test_root_locus_warnings(self):
sys = TransferFunction([1000], [1, 25, 100, 0])
with pytest.warns(FutureWarning, match="Plot.*deprecated"):
rlist, klist = root_locus(sys, Plot=True)
with pytest.warns(FutureWarning, match="PrintGain.*deprecated"):
rlist, klist = root_locus(sys, PrintGain=True)

def test_root_locus_neg_false_gain_nonproper(self):
""" Non proper TranferFunction with negative gain: Not implemented"""
with pytest.raises(ValueError, match="with equal order"):
root_locus(TransferFunction([-1, 2], [1, 2]))

# TODO: cover and validate negative false_gain branch in _default_gains()

def test_root_locus_zoom(self):
"""Check the zooming functionality of the Root locus plot"""
system = TransferFunction([1000], [1, 25, 100, 0])
Expand DownExpand Up@@ -96,4 +132,3 @@ def test_rlocus_default_wn(self):
[-1e-2, 1-1e7j, 1+1e7j], [0, -1e7j, 1e7j], 1))

ct.root_locus(sys)

39 changes: 11 additions & 28 deletionscontrol/tests/sisotool_test.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -17,14 +17,10 @@ class TestSisotool:
"""These are tests for the sisotool in sisotool.py."""

@pytest.fixture
defsys(self):
deftsys(self, request):
"""Return a generic SISO transfer function"""
return TransferFunction([1000], [1, 25, 100, 0])

@pytest.fixture
def sysdt(self):
"""Return a generic SISO transfer function"""
return TransferFunction([1000], [1, 25, 100, 0], True)
dt = getattr(request, 'param', 0)
return TransferFunction([1000], [1, 25, 100, 0], dt)

@pytest.fixture
def sys222(self):
Expand All@@ -50,8 +46,8 @@ def sys221(self):
D221 = [[1., -1.]]
return StateSpace(A222, B222, C221, D221)

def test_sisotool(self,sys):
sisotool(sys, Hz=False)
def test_sisotool(self,tsys):
sisotool(tsys, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]

Expand DownExpand Up@@ -89,7 +85,7 @@ def test_sisotool(self, sys):
event = type('test', (object,), {'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes})()
_RLClickDispatcher(event=event, sys=sys, fig=fig,
_RLClickDispatcher(event=event, sys=tsys, fig=fig,
ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
bode_plot_params=bode_plot_params, tvect=None)

Expand DownExpand Up@@ -118,37 +114,24 @@ def test_sisotool(self, sys):
assert_array_almost_equal(
ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)

def test_sisotool_tvect(self, sys):
@pytest.mark.parametrize('tsys', [0, True],
indirect=True, ids=['ctime', 'dtime'])
def test_sisotool_tvect(self, tsys):
# test supply tvect
tvect = np.linspace(0, 1, 10)
sisotool(sys, tvect=tvect)
sisotool(tsys, tvect=tvect)
fig = plt.gcf()
ax_rlocus, ax_step = fig.axes[1], fig.axes[3]

# Move the rootlocus to another point and confirm same tvect
event = type('test', (object,), {'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes})()
_RLClickDispatcher(event=event, sys=sys, fig=fig,
_RLClickDispatcher(event=event, sys=tsys, fig=fig,
ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
bode_plot_params=dict(), tvect=tvect)
assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

def test_sisotool_tvect_dt(self, sysdt):
# test supply tvect
tvect = np.linspace(0, 1, 10)
sisotool(sysdt, tvect=tvect)
fig = plt.gcf()
ax_rlocus, ax_step = fig.axes[1], fig.axes[3]

# Move the rootlocus to another point and confirm same tvect
event = type('test', (object,), {'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes})()
_RLClickDispatcher(event=event, sys=sysdt, fig=fig,
ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
bode_plot_params=dict(), tvect=tvect)
assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

def test_sisotool_mimo(self, sys222, sys221):
# a 2x2 should not raise an error:
Expand Down
1 change: 0 additions & 1 deletionsetup.cfg
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Original file line numberDiff line numberDiff line change
Expand Up@@ -5,4 +5,3 @@ universal=1
addopts = -ra
filterwarnings =
error:.*matrix subclass:PendingDeprecationWarning

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