Dec 31, 2021 · Dec 27, 2021 · Dec 27, 2021
diff --git a/control/sisotool.py b/control/sisotool.py
    loop = interconnect((plant, Kpgain, Kigain, Kdgain, prop, integ, deriv,
                            C_ff, e_summer, u_summer),
                            inplist=['input', input_signal],
                            outlist=['output', 'y'])
                            outlist=['output', 'y'], check_unused=False)
    if plot:
        sisotool(loop, kvect=(0.,))
    cl = loop[1, 1] # closed loop transfer function with initial gains
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py

    # test creation of sisotool plot
    # input from reference or disturbance
    @pytest.mark.skip("Bode plot is incorrect; generates spurious warnings")
    @pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)
    @pytest.mark.parametrize("kwargs", [
        {'input_signal':'r', 'Kp0':0.01, 'derivative_in_feedback_path':True},
Original file line number	Diff line number	Diff line change
Expand Up		@@ -328,7 +328,7 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
		loop = interconnect((plant, Kpgain, Kigain, Kdgain, prop, integ, deriv,
		C_ff, e_summer, u_summer),
		inplist=['input', input_signal],
		outlist=['output', 'y'])
		outlist=['output', 'y'], check_unused=False)
		if plot:
		sisotool(loop, kvect=(0.,))
		cl = loop[1, 1] # closed loop transfer function with initial gains
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Original file line number	Diff line number	Diff line change
Expand Up		@@ -170,6 +170,7 @@ def test_pid_designer_1(self, plant, gain, sign, input_signal, Kp0, Ki0, Kd0, ta

		# test creation of sisotool plot
		# input from reference or disturbance
		@pytest.mark.skip("Bode plot is incorrect; generates spurious warnings")
		@pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)
		@pytest.mark.parametrize("kwargs", [
		{'input_signal':'r', 'Kp0':0.01, 'derivative_in_feedback_path':True},
Expand Down