Merge pull request #1223 from marko1olo/fix-nyquist-indent-direction

murrayrm · web-flow · commit 17baf62da1ba · 2026-06-08T16:50:20.000-04:00
Honor explicit Nyquist indent direction near imaginary axis
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -1312,6 +1312,8 @@ def nyquist_response(
         # Use existing dictionary, to keep track of processed keywords
         _kwargs |= kwargs
 
+    indent_direction_arg = 'indent_direction' in _kwargs
+
     # Get values for params
     omega_num_given = omega_num is not None
     omega_num = config._get_param('freqplot', 'number_of_samples', omega_num)
@@ -1469,8 +1471,21 @@ def nyquist_response(
                             - (s - p).real
 
                         # Figure out which way to offset the contour point
-                        if p.real < 0 or (p.real == 0 and
-                                        indent_direction == 'right'):
+                        if indent_direction_arg:
+                            if indent_direction == 'right':
+                                # Indent to the right
+                                splane_contour[i] += offset
+
+                            elif indent_direction == 'left':
+                                # Indent to the left
+                                splane_contour[i] -= offset
+
+                            else:
+                                raise ValueError(
+                                    "unknown value for indent_direction")
+
+                        elif p.real < 0 or (p.real == 0 and
+                                            indent_direction == 'right'):
                             # Indent to the right
                             splane_contour[i] += offset
 
diff --git a/control/tests/nyquist_test.py b/control/tests/nyquist_test.py
@@ -372,6 +372,29 @@ def test_nyquist_indent_im():
     assert _Z(sys) == response.count + _P(sys)
 
 
+def test_nyquist_indent_near_imaginary_axis():
+    """Test indent direction for poles near the imaginary axis."""
+    sys = ct.tf([1, 11, 10], [0.01, 1, 0.01, 1])
+    omega = np.linspace(0, 2, 21)
+
+    _, contour_default = ct.nyquist_response(
+        sys, omega, indent_radius=0.1, return_contour=True,
+        warn_encirclements=False)
+    _, contour_right = ct.nyquist_response(
+        sys, omega, indent_radius=0.1, indent_direction='right',
+        return_contour=True, warn_encirclements=False)
+    _, contour_left = ct.nyquist_response(
+        sys, omega, indent_radius=0.1, indent_direction='left',
+        return_contour=True, warn_encirclements=False)
+
+    # The pole near +1j has a small positive real part, so the default
+    # behavior indents to the left.  Explicit directions override this.
+    pole_index = np.argmin(np.abs(contour_default.imag - 1))
+    assert contour_default[pole_index].real < 0
+    assert contour_right[pole_index].real > 0
+    assert contour_left[pole_index].real < 0
+
+
 def test_nyquist_exceptions():
     # MIMO not implemented
     sys = ct.rss(2, 2, 2)
