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Added docstring and unittest
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Lines changed: 138 additions & 8 deletions

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‎control/freqplot.py‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -213,8 +213,10 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
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pltline = ax_mag.semilogx(omega_plot, 20 * np.log10(mag),
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*args, **kwargs)
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else:
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pltline = ax_mag.loglog(omega_plot, mag, *args, **kwargs)
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if nyquistfrq_plot:
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ax_mag.axvline(nyquistfrq_plot,
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color=pltline[0].get_color())

‎control/rlocus.py‎

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Original file line numberDiff line numberDiff line change
@@ -380,6 +380,7 @@ def _RLFeedbackClicksSisotool(event,sys,fig,bode_plot_params,tvect):
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def _RLFeedbackClicksPoint(event,sys,fig,ax_rlocus=None,sisotool=False):
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"""Display root-locus gain feedback point for clicks on the root-locus plot
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"""
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print(event)
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if sisotool == False:
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ax_rlocus = fig.axes[0]
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@@ -413,8 +414,6 @@ def _RLFeedbackClicksPoint(event,sys,fig,ax_rlocus=None,sisotool=False):
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return True
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def _sgrid_func(fig=None, zeta=None, wn=None):
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if fig is None:
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fig = pylab.gcf()

‎control/sisotool.py‎

Lines changed: 57 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,56 @@
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from .lti import issiso
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import matplotlib
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import matplotlib.pyplot as plt
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def sisotool(sys, kvect = None, xlim = None, ylim = None, plotstr_rlocus = 'b' if int(matplotlib.__version__[0]) == 1 else 'C0',rlocus_grid = False, omega = None, dB = None, Hz = None, deg = None, omega_limits = None, omega_num = None,margins = True, tvect=None):
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import warnings
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def sisotool(sys, kvect = None, xlim_rlocus = None, ylim_rlocus = None, plotstr_rlocus = 'b' if int(matplotlib.__version__[0]) == 1 else 'C0',rlocus_grid = False, omega = None, dB = None, Hz = None, deg = None, omega_limits = None, omega_num = None,margins_bode = True, tvect=None):
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"""Sisotool
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Sisotool style collection of plots inspired by the matlab sisotool.
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The left two plots contain the bode magnitude and phase diagrams.
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The top right plot is a clickable root locus plot, clicking on the
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root locus will change the gain of the system. The bottom left plot
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shows a closed loop time response.
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Parameters
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----------
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sys : LTI object
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Linear input/output systems (SISO only)
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kvect : list or ndarray, optional
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List of gains to use for plotting root locus
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xlim_rlocus : tuple or list, optional
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control of x-axis range, normally with tuple (see matplotlib.axes)
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ylim_rlocus : tuple or list, optional
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control of y-axis range
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plotstr_rlocus : Additional options to matplotlib
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plotting style for the root locus plot(color, linestyle, etc)
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rlocus_grid: boolean (default = False)
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If True plot s-plane grid.
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omega : freq_range
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Range of frequencies in rad/sec for the bode plot
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dB : boolean
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If True, plot result in dB for the bode plot
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Hz : boolean
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If True, plot frequency in Hz for the bode plot (omega must be provided in rad/sec)
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deg : boolean
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If True, plot phase in degrees for the bode plot (else radians)
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omega_limits: tuple, list, ... of two values
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Limits of the to generate frequency vector.
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If Hz=True the limits are in Hz otherwise in rad/s.
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omega_num: int
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number of samples
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margins_bode : boolean
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If True, plot gain and phase margin in the bode plot
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tvect : list or ndarray, optional
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List of timesteps to use for closed loop step response
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Examples
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--------
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>>> sys = tf([1000], [1,25,100,0])
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>>> sisotool(sys)
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"""
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from .rlocus import root_locus
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# Check if it is a single SISO system
@@ -30,14 +77,14 @@ def sisotool(sys, kvect = None, xlim = None, ylim = None, plotstr_rlocus = 'b' i
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'omega_num' : omega_num,
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'sisotool': True,
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'fig': fig,
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'margins': margins
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'margins': margins_bode
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}
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# First time call to setup the bode and step response plots
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_SisotoolUpdate(sys, fig,1 if kvect is None else kvect[0],bode_plot_params)
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# Setup the root-locus plot window
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root_locus(sys,kvect=kvect,xlim=xlim,ylim = ylim,plotstr=plotstr_rlocus,grid = rlocus_grid,fig=fig,bode_plot_params=bode_plot_params,tvect=tvect,sisotool=True)
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root_locus(sys,kvect=kvect,xlim=xlim_rlocus,ylim = ylim_rlocus,plotstr=plotstr_rlocus,grid = rlocus_grid,fig=fig,bode_plot_params=bode_plot_params,tvect=tvect,sisotool=True)
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4289
def _SisotoolUpdate(sys,fig,K,bode_plot_params,tvect=None):
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@@ -50,7 +97,11 @@ def _SisotoolUpdate(sys,fig,K,bode_plot_params,tvect=None):
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# Get the subaxes and clear them
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ax_mag,ax_rlocus,ax_phase,ax_step = fig.axes[0],fig.axes[1],fig.axes[2],fig.axes[3]
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ax_mag.cla(),ax_phase.cla(),ax_step.cla()
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# Catch matplotlib 2.1.x and higher userwarnings when clearing a log axis
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with warnings.catch_warnings():
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warnings.simplefilter("ignore")
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ax_step.clear(), ax_mag.clear(), ax_phase.clear()
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# Update the bodeplot
56107
bode_plot_params['syslist'] = sys*K.real

‎control/tests/sisotool_test.py‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
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import unittest
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import numpy as np
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from control.sisotool import sisotool
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from control.tests.margin_test import assert_array_almost_equal
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from control.rlocus import _RLFeedbackClicksSisotool
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from control.xferfcn import TransferFunction
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import matplotlib.pyplot as plt
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class TestSisotool(unittest.TestCase):
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"""These are tests for the sisotool in sisotool.py."""
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def setUp(self):
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"""This contains some random LTI systems and scalars for testing."""
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# Two random SISO systems.
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sys1 = TransferFunction([1000],[1,25,100,0])
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sys2 = TransferFunction([1,1,1],[1,1])
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self.systems = (sys1, sys2)
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def test_sisotool(self):
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sisotool(self.systems[0])
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fig = plt.gcf()
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ax_mag,ax_rlocus,ax_phase,ax_step = fig.axes[0],fig.axes[1],fig.axes[2],fig.axes[3]
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# Check the initial root locus plot points
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initial_point_0 = (np.array([-22.53155977]),np.array([0.]))
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initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
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initial_point_2 = (np.array([-1.23422011]), np.array([06.54667031]))
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assert_array_almost_equal(ax_rlocus.lines[0].get_data(),initial_point_0)
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assert_array_almost_equal(ax_rlocus.lines[1].get_data(),initial_point_1)
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assert_array_almost_equal(ax_rlocus.lines[2].get_data(),initial_point_2)
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# Check the bode plot magnitude line
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bode_mag_original = np.array([ 15.12670407, 12.48358602, 10.28367521, 8.44961576, 6.91740918, 5.63436301, 4.55750665, 3.65237575, 2.89200358, 2.25587634])
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assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],bode_mag_original)
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# Check the step response before moving the point
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print(ax_step.lines[0].get_data()[1][:10])
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step_response_original = np.array([ 0., 0.02233651, 0.13118374, 0.33078542, 0.5907113, 0.87041549, 1.13038536, 1.33851053, 1.47374666, 1.52757114])
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assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],step_response_original)
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42+
bode_plot_params = {
43+
'omega': None,
44+
'dB': False,
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'Hz': False,
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'deg': True,
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'omega_limits': None,
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'omega_num': None,
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'sisotool': True,
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'fig': fig,
51+
'margins': True
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}
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# Move the rootlocus to another point
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event = type('test', (object,), {'xdata': 2.31206868287,'ydata':15.5983051046, 'inaxes':ax_rlocus.axes})()
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_RLFeedbackClicksSisotool(event=event, sys=self.systems[0], fig=fig, bode_plot_params=bode_plot_params, tvect=None)
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# Check the moved root locus plot points
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moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
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moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
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moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
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assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),moved_point_0)
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assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),moved_point_1)
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assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),moved_point_2)
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# Check if the bode_mag line has moved
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bode_mag_moved = np.array([ 111.83321224, 92.29238035, 76.02822315, 62.46884113, 51.14108703, 41.6554004, 33.69409534, 27.00237344, 21.38086717, 16.67791585])
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assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],bode_mag_moved)
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# Check if the step response has changed
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step_response_moved = np.array([[ 0., 0.02458187, 0.16529784 , 0.46602716 , 0.91012035 , 1.43364313, 1.93996334 , 2.3190105 , 2.47041552 , 2.32724853] ])
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assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],step_response_moved)
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def test_suite():
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return unittest.TestLoader().loadTestsFromTestCase(TestSisotool)
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if __name__ == "__main__":
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unittest.main()

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