improved test coverage, pep8 cleanup, doc clarification, removed compatibility with matplotlib 1 released 10 years ago

sawyerbfuller · sawyerbfuller · commit fc8f8d75c1fa · 2021-02-05T12:53:14.000-08:00
diff --git a/control/sisotool.py b/control/sisotool.py
@@ -10,11 +10,10 @@
 import matplotlib.pyplot as plt
 import warnings
 
-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):
+def sisotool(sys, kvect=None, xlim_rlocus=None, ylim_rlocus=None,
+             plotstr_rlocus='C0', rlocus_grid=False, omega=None, dB=None,
+             Hz=None, deg=None, omega_limits=None, omega_num=None,
+             margins_bode=True, tvect=None):
     """
     Sisotool style collection of plots inspired by MATLAB's sisotool.
     The left two plots contain the bode magnitude and phase diagrams.
@@ -26,12 +25,15 @@ def sisotool(sys, kvect = None, xlim_rlocus = None, ylim_rlocus = None,
     ----------
     sys : LTI object
         Linear input/output systems. If sys is SISO, use the same
-        system for the root locus and step response. If sys is
-        two-input, two-output, insert the negative of the selected gain
-        between the first output and first input and use the second input
-        and output for computing the step response. This allows you to see
-        the step responses of more complex systems while using sisotool,
-        for example, systems with a feedforward path into the plant.
+        system for the root locus and step response. If it is desired to
+        see a different step response than feedback(K*loop,1), sys can be
+        provided as a two-input, two-output system (e.g. by using
+        :func:`bdgalg.connect' or :func:`iosys.interconnect`). Sisotool
+        inserts the negative of the selected gain K between the first output
+        and first input and uses the second input and output for computing
+        the step response. This allows you to see the step responses of more
+        complex systems, for example, systems with a feedforward path into the
+        plant or in which the gain appears in the feedback path.
     kvect : list or ndarray, optional
         List of gains to use for plotting root locus
     xlim_rlocus : tuple or list, optional
@@ -108,12 +110,8 @@ def sisotool(sys, kvect = None, xlim_rlocus = None, ylim_rlocus = None,
 
 def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
 
-    if int(matplotlib.__version__[0]) == 1:
-        title_font_size = 12
-        label_font_size = 10
-    else:
-        title_font_size = 10
-        label_font_size = 8
+    title_font_size = 10
+    label_font_size = 8
 
     # Get the subaxes and clear them
     ax_mag, ax_rlocus, ax_phase, ax_step = \
@@ -144,7 +142,7 @@ def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
 
     ax_step.set_title('Step response',fontsize = title_font_size)
     ax_step.set_xlabel('Time (seconds)',fontsize=label_font_size)
-    ax_step.set_ylabel('Amplitude',fontsize=label_font_size)
+    ax_step.set_ylabel('Output',fontsize=label_font_size)
     ax_step.get_xaxis().set_label_coords(0.5, -0.15)
     ax_step.get_yaxis().set_label_coords(-0.15, 0.5)
     ax_step.tick_params(axis='both', which='major', labelsize=label_font_size)
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -21,6 +21,11 @@ def sys(self):
         """Return a generic SISO transfer function"""
         return TransferFunction([1000], [1, 25, 100, 0])
 
+    @pytest.fixture
+    def sysdt(self):
+        """Return a generic SISO transfer function"""
+        return TransferFunction([1000], [1, 25, 100, 0], True)
+
     @pytest.fixture
     def sys222(self):
         """2-states square system (2 inputs x 2 outputs)"""
@@ -45,7 +50,7 @@ def sys221(self):
         D221 = [[1., -1.]]
         return StateSpace(A222, B222, C221, D221)
 
-    def test_sisotool(self, sys, sys222, sys221):
+    def test_sisotool(self, sys, sysdt, sys222, sys221):
         sisotool(sys, Hz=False)
         fig = plt.gcf()
         ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
@@ -114,15 +119,21 @@ def test_sisotool(self, sys, sys222, sys221):
         step_response_moved = np.array(
             [0., 0.0072, 0.0516, 0.1554, 0.3281, 0.5681, 0.8646, 1.1987,
              1.5452, 1.875])
-        # old: array([0., 0.0239, 0.161 , 0.4547, 0.8903, 1.407,
-        #             1.9121, 2.2989, 2.4686, 2.353])
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
+        # test supply tvect
+        sisotool(sys, tvect=np.arange(0, 1, .1))
+
+        # test discrete-time
+        sisotool(sysdt, tvect=5)
+
         # test MIMO compatibility
         # sys must be siso or 2 input, 2 output
         with pytest.raises(ControlMIMONotImplemented):
             sisotool(sys221)
         # does not raise an error:
         sisotool(sys222)
 
+
+
