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"""phaseplot_test.py - test phase plot functions
RMM, 17 24 2011 (based on TestMatlab from v0.4c)
This test suite calls various phaseplot functions. Since the plots
themselves can't be verified, this is mainly here to make sure all
of the function arguments are handled correctly. If you run an
individual test by itself and then type show(), it should pop open
the figures so that you can check them visually.
"""
import matplotlib.pyplot as plt
import numpy as np
from numpy import pi
import pytest
from control import phase_plot
import control as ct
import control.phaseplot as pp
# Legacy tests
@pytest.mark.usefixtures("mplcleanup", "ignore_future_warning")
class TestPhasePlot:
def testInvPendSims(self):
phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
X0 = ([1,1], [-1,1]))
def testInvPendNoSims(self):
phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10));
def testInvPendTimePoints(self):
phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
X0 = ([1,1], [-1,1]), T=np.linspace(0,5,100))
def testInvPendLogtime(self):
phase_plot(self.invpend_ode, X0 =
[ [-2*pi, 1.6], [-2*pi, 0.5], [-1.8, 2.1],
[-1, 2.1], [4.2, 2.1], [5, 2.1],
[2*pi, -1.6], [2*pi, -0.5], [1.8, -2.1],
[1, -2.1], [-4.2, -2.1], [-5, -2.1] ],
T = np.linspace(0, 40, 200),
logtime=(3, 0.7),
verbose=False)
def testInvPendAuto(self):
phase_plot(self.invpend_ode, lingrid = 0, X0=
[[-2.3056, 2.1], [2.3056, -2.1]], T=6, verbose=False)
def testInvPendFBS(self):
# Outer trajectories
phase_plot(
self.invpend_ode, timepts=[1, 4, 10],
X0=[[-2*pi, 1.6], [-2*pi, 0.5], [-1.8, 2.1], [-1, 2.1],
[4.2, 2.1], [5, 2.1], [2*pi, -1.6], [2*pi, -0.5],
[1.8, -2.1], [1, -2.1], [-4.2, -2.1], [-5, -2.1]],
T = np.linspace(0, 40, 800),
params=(1, 1, 0.2, 1))
# Separatrices
def testOscillatorParams(self):
# default values
m = 1
b = 1
k = 1
phase_plot(self.oscillator_ode, timepts = [0.3, 1, 2, 3], X0 =
[[-1,1], [-0.3,1], [0,1], [0.25,1], [0.5,1], [0.7,1],
[1,1], [1.3,1], [1,-1], [0.3,-1], [0,-1], [-0.25,-1],
[-0.5,-1], [-0.7,-1], [-1,-1], [-1.3,-1]],
T = np.linspace(0, 10, 100), parms = (m, b, k))
def testNoArrows(self):
# Test case from aramakrl that was generating a type error
# System does not have arrows
# cf. issue #96,
# https://github.com/python-control/python-control/issues/96
def d1(x1x2,t):
x1,x2 = x1x2
return np.array([x2, x2 - 2*x1])
x1x2_0 = np.array([[-1.,1.], [-1.,-1.], [1.,1.], [1.,-1.],
[-1.,0.],[1.,0.],[0.,-1.],[0.,1.],[0.,0.]])
plt.figure(1)
phase_plot(d1,X0=x1x2_0,T=100)
# Sample dynamical systems - inverted pendulum
def invpend_ode(self, x, t, m=1., l=1., b=0.2, g=1):
import numpy as np
return (x[1], -b/m*x[1] + (g*l/m) * np.sin(x[0]))
# Sample dynamical systems - oscillator
def oscillator_ode(self, x, t, m=1., b=1, k=1, extra=None):
return (x[1], -k/m*x[0] - b/m*x[1])
@pytest.mark.parametrize(
"func, args, kwargs", [
[ct.phaseplot.vectorfield, [], {}],
[ct.phaseplot.vectorfield, [],
{'color': 'k', 'gridspec': [4, 3], 'params': {}}],
[ct.phaseplot.streamlines, [1], {'params': {}, 'arrows': 5}],
[ct.phaseplot.streamlines, [],
{'dir': 'forward', 'gridtype': 'meshgrid', 'color': 'k'}],
[ct.phaseplot.streamlines, [1],
{'dir': 'reverse', 'gridtype': 'boxgrid', 'color': None}],
[ct.phaseplot.streamlines, [1],
{'dir': 'both', 'gridtype': 'circlegrid', 'gridspec': [0.5, 5]}],
[ct.phaseplot.equilpoints, [], {}],
[ct.phaseplot.equilpoints, [], {'color': 'r', 'gridspec': [5, 5]}],
[ct.phaseplot.separatrices, [], {}],
[ct.phaseplot.separatrices, [], {'color': 'k', 'arrows': 4}],
[ct.phaseplot.separatrices, [5], {'params': {}, 'gridspec': [5, 5]}],
[ct.phaseplot.separatrices, [5], {'color': ('r', 'g')}],
])
def test_helper_functions(func, args, kwargs):
# Test with system
sys = ct.nlsys(
lambda t, x, u, params: [x[0] - 3*x[1], -3*x[0] + x[1]],
states=2, inputs=0)
out = func(sys, [-1, 1, -1, 1], *args, **kwargs)
# Test with function
rhsfcn = lambda t, x: sys.dynamics(t, x, 0, {})
out = func(rhsfcn, [-1, 1, -1, 1], *args, **kwargs)
def test_system_types():
# Sample dynamical systems - inverted pendulum
def invpend_ode(t, x, m=0, l=0, b=0, g=0):
return (x[1], -b/m*x[1] + (g*l/m) * np.sin(x[0]))
# Use callable form, with parameters (if not correct, will get /0 error)
ct.phase_plane_plot(
invpend_ode, [-5, 5, 2, 2], params={'args': (1, 1, 0.2, 1)})
# Linear I/O system
ct.phase_plane_plot(
ct.ss([[0, 1], [-1, -1]], [[0], [1]], [[1, 0]], 0))
def test_phaseplane_errors():
with pytest.raises(ValueError, match="invalid grid specification"):
ct.phase_plane_plot(ct.rss(2, 1, 1), gridspec='bad')
with pytest.raises(ValueError, match="unknown grid type"):
ct.phase_plane_plot(ct.rss(2, 1, 1), gridtype='bad')
with pytest.raises(ValueError, match="system must be planar"):
ct.phase_plane_plot(ct.rss(3, 1, 1))
with pytest.raises(ValueError, match="params must be dict with key"):
def invpend_ode(t, x, m=0, l=0, b=0, g=0):
return (x[1], -b/m*x[1] + (g*l/m) * np.sin(x[0]))
ct.phase_plane_plot(
invpend_ode, [-5, 5, 2, 2], params={'stuff': (1, 1, 0.2, 1)})
def test_basic_phase_plots(savefigs=False):
sys = ct.nlsys(
lambda t, x, u, params: np.array([[0, 1], [-1, -1]]) @ x,
states=['position', 'velocity'], inputs=0, name='damped oscillator')
plt.figure()
axis_limits = [-1, 1, -1, 1]
T = 8
ct.phase_plane_plot(sys, axis_limits, T)
if savefigs:
plt.savefig('phaseplot-dampedosc-default.png')
def invpend_update(t, x, u, params):
m, l, b, g = params['m'], params['l'], params['b'], params['g']
return [x[1], -b/m * x[1] + (g * l / m) * np.sin(x[0]) + u[0]/m]
invpend = ct.nlsys(invpend_update, states=2, inputs=1, name='invpend')
plt.figure()
ct.phase_plane_plot(
invpend, [-2*pi, 2*pi, -2, 2], 5,
gridtype='meshgrid', gridspec=[5, 8], arrows=3,
plot_separatrices={'gridspec': [12, 9]},
params={'m': 1, 'l': 1, 'b': 0.2, 'g': 1})
plt.xlabel(r"$\theta$ [rad]")
plt.ylabel(r"$\dot\theta$ [rad/sec]")
if savefigs:
plt.savefig('phaseplot-invpend-meshgrid.png')
def oscillator_update(t, x, u, params):
return [x[1] + x[0] * (1 - x[0]**2 - x[1]**2),
-x[0] + x[1] * (1 - x[0]**2 - x[1]**2)]
oscillator = ct.nlsys(
oscillator_update, states=2, inputs=0, name='nonlinear oscillator')
plt.figure()
ct.phase_plane_plot(oscillator, [-1.5, 1.5, -1.5, 1.5], 0.9)
pp.streamlines(
oscillator, np.array([[0, 0]]), 1.5,
gridtype='circlegrid', gridspec=[0.5, 6], dir='both')
pp.streamlines(oscillator, np.array([[1, 0]]), 2*pi, arrows=6, color='b')
plt.gca().set_aspect('equal')
if savefigs:
plt.savefig('phaseplot-oscillator-helpers.png')
if __name__ == "__main__":
#
# Interactive mode: generate plots for manual viewing
#
# Running this script in python (or better ipython) will show a
# collection of figures that should all look OK on the screeen.
#
# In interactive mode, turn on ipython interactive graphics
plt.ion()
# Start by clearing existing figures
plt.close('all')
test_basic_phase_plots(savefigs=True)