Feb 18, 2023 · Feb 17, 2023 · Feb 17, 2023 · Feb 17, 2023 · Feb 17, 2023 · Feb 17, 2023
diff --git a/control/freqplot.py b/control/freqplot.py
            if initial_phase is None:
                # Start phase in the range 0 to -360 w/ initial phase = -180
                # If wrap_phase is true, use 0 instead (phase \in (-pi, pi])
 initial_phase = -math.pi if wrap_phase is not True else 0
 initial_phase_value = -math.pi if wrap_phase is not True else 0
            elif isinstance(initial_phase, (int, float)):
                # Allow the user to override the default calculation
                if deg:
                    initial_phase = initial_phase/180. * math.pi
                    initial_phase_value = initial_phase/180. * math.pi
                else:
                    initial_phase_value = initial_phase

            else:
                raise ValueError("initial_phase must be a number.")

            # Shift the phase if needed
            if abs(phase[0] -initial_phase) > math.pi:
            if abs(phase[0] -initial_phase_value) > math.pi:
                phase -= 2*math.pi * \
                    round((phase[0] -initial_phase) / (2*math.pi))
                    round((phase[0] -initial_phase_value) / (2*math.pi))

            # Phase wrapping
            if wrap_phase is False:
            # Plot the scaled sections of the curve (changing linestyle)
            x_scl = np.ma.masked_where(scale_mask, resp.real)
            y_scl = np.ma.masked_where(scale_mask, resp.imag)
            plt.plot(
                x_scl * (1 + curve_offset), y_scl * (1 + curve_offset),
                primary_style[1], color=c, **kwargs)
            if x_scl.count() >= 1 and y_scl.count() >= 1:
                plt.plot(
                    x_scl * (1 + curve_offset),
                    y_scl * (1 + curve_offset),
                    primary_style[1], color=c, **kwargs)

            # Plot the primary curve (invisible) for setting arrows
            x, y = resp.real.copy(), resp.imag.copy()
                # Plot the regular and scaled segments
                plt.plot(
                    x_reg, -y_reg, mirror_style[0], color=c, **kwargs)
                plt.plot(
                    x_scl * (1 - curve_offset),
                    -y_scl * (1 - curve_offset),
                    mirror_style[1], color=c, **kwargs)
                if x_scl.count() >= 1 and y_scl.count() >= 1:
                    plt.plot(
                        x_scl * (1 - curve_offset),
                        -y_scl * (1 - curve_offset),
                        mirror_style[1], color=c, **kwargs)

                # Add the arrows (on top of an invisible contour)
                x, y = resp.real.copy(), resp.imag.copy()
diff --git a/control/tests/freqresp_test.py b/control/tests/freqresp_test.py
    assert(max(phase) <= max_phase)


 def test_phase_wrap_multiple_systems():
    sys_unstable = ctrl.zpk([],[1,1], gain=1)

    mag, phase, omega = ctrl.bode(sys_unstable, plot=False)
    assert(np.min(phase) >= -2*np.pi)
    assert(np.max(phase) <= -1*np.pi)

    mag, phase, omega = ctrl.bode((sys_unstable, sys_unstable), plot=False)
    assert(np.min(phase) >= -2*np.pi)
    assert(np.max(phase) <= -1*np.pi)


 def test_freqresp_warn_infinite():
    """Test evaluation warnings for transfer functions w/ pole at the origin"""
    sys_finite = ctrl.tf([1], [1, 0.01])
Original file line number	Diff line number	Diff line change
Expand Up		@@ -276,18 +276,21 @@ def bode_plot(syslist, omega=None,
		if initial_phase is None:
		# Start phase in the range 0 to -360 w/ initial phase = -180
		# If wrap_phase is true, use 0 instead (phase \in (-pi, pi])
		initial_phase = -math.pi if wrap_phase is not True else 0
		initial_phase_value = -math.pi if wrap_phase is not True else 0
		elif isinstance(initial_phase, (int, float)):
		# Allow the user to override the default calculation
		if deg:
		initial_phase = initial_phase/180. * math.pi
		initial_phase_value = initial_phase/180. * math.pi
		else:
		initial_phase_value = initial_phase

		else:
		raise ValueError("initial_phase must be a number.")

		# Shift the phase if needed
		if abs(phase[0] -initial_phase) > math.pi:
		if abs(phase[0] -initial_phase_value) > math.pi:
		phase -= 2math.pi \
		round((phase[0] -initial_phase) / (2*math.pi))
		round((phase[0] -initial_phase_value) / (2*math.pi))

		# Phase wrapping
		if wrap_phase is False:
Expand DownExpand Up		@@ -1021,9 +1024,11 @@ def _parse_linestyle(style_name, allow_false=False):
		# Plot the scaled sections of the curve (changing linestyle)
		x_scl = np.ma.masked_where(scale_mask, resp.real)
		y_scl = np.ma.masked_where(scale_mask, resp.imag)
		plt.plot(
		x_scl * (1 + curve_offset), y_scl * (1 + curve_offset),
		primary_style[1], color=c, **kwargs)
		if x_scl.count() >= 1 and y_scl.count() >= 1:
		plt.plot(
		x_scl * (1 + curve_offset),
		y_scl * (1 + curve_offset),
		primary_style[1], color=c, **kwargs)

		# Plot the primary curve (invisible) for setting arrows
		x, y = resp.real.copy(), resp.imag.copy()
Expand All		@@ -1041,10 +1046,11 @@ def _parse_linestyle(style_name, allow_false=False):
		# Plot the regular and scaled segments
		plt.plot(
		x_reg, -y_reg, mirror_style[0], color=c, **kwargs)
		plt.plot(
		x_scl * (1 - curve_offset),
		-y_scl * (1 - curve_offset),
		mirror_style[1], color=c, **kwargs)
		if x_scl.count() >= 1 and y_scl.count() >= 1:
		plt.plot(
		x_scl * (1 - curve_offset),
		-y_scl * (1 - curve_offset),
		mirror_style[1], color=c, **kwargs)

		# Add the arrows (on top of an invisible contour)
		x, y = resp.real.copy(), resp.imag.copy()
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -375,6 +375,18 @@ def test_phase_wrap(TF, wrap_phase, min_phase, max_phase):
		assert(max(phase) <= max_phase)


		def test_phase_wrap_multiple_systems():
		sys_unstable = ctrl.zpk([],[1,1], gain=1)

		mag, phase, omega = ctrl.bode(sys_unstable, plot=False)
		assert(np.min(phase) >= -2*np.pi)
		assert(np.max(phase) <= -1*np.pi)

		mag, phase, omega = ctrl.bode((sys_unstable, sys_unstable), plot=False)
		assert(np.min(phase) >= -2*np.pi)
		assert(np.max(phase) <= -1*np.pi)


		def test_freqresp_warn_infinite():
		"""Test evaluation warnings for transfer functions w/ pole at the origin"""
		sys_finite = ctrl.tf([1], [1, 0.01])
Expand Down