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Fix negative real handling and improve pole matching logic #1216

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UbeenII wants to merge 6 commits into from
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Fix negative real handling and improve pole matching logic #1216

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8821978
2 fixes. 1st fix: the m_nr branch which is meant to handle negative r…
UbeenII May 16, 2026
287ce1a
Restore original continuous test target value to fix accidental edit
UbeenII Jun 7, 2026
a1d6f4e
Update control/tests/timeresp_test.py
UbeenII Jun 9, 2026
005eebf
Update control/timeresp.py
UbeenII Jun 9, 2026
0d03091
Clean up imports in timeresp_test.py
UbeenII Jun 9, 2026
b0f9e9e
Removed blank line
UbeenII Jun 9, 2026
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11 changes: 11 additions & 0 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

from copy import copy
from math import isclose
import warnings

import numpy as np
import pytest
Expand All @@ -14,6 +15,8 @@
step_response




@slivingston slivingston Jun 9, 2026

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I will remove these extra blank lines before merging. (Normally, only up to 2 blank lines are used to separate top-level blocks in a Python file.)

class TSys:
"""Struct of test system"""
def __init__(self, sys=None, call_kwargs=None):
Expand Down Expand Up @@ -826,6 +829,14 @@ def test_auto_generated_time_vector_tfinal(self, tfsys, tfinal):
np.testing.assert_allclose(ideal_tfinal, tfinal, rtol=1e-4)
T = _default_time_vector(tfsys)
np.testing.assert_allclose(T[-1], tfinal, atol=0.5*ideal_dt)

def test_discrete_time_negative_one_settling(self):
#system with -1 pole
TF = TransferFunction([1,3,0],[1,3,2], dt=True)
with warnings.catch_warnings():
warnings.simplefilter("error")
impulse_response(TF)


@pytest.mark.parametrize("wn, zeta", [(10, 0), (100, 0), (100, .1)])
def test_auto_generated_time_vector_dt_cont1(self, wn, zeta):
Expand Down
2 changes: 1 addition & 1 deletion control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2172,7 +2172,7 @@ def _ideal_tfinal_and_dt(sys, is_step=True):
m_z = np.abs(p) < sqrt_eps
p = p[~m_z]
# Negative reals- treated as oscillatory mode
m_nr = (p.real < 0) & (np.abs(p.imag) < sqrt_eps)
m_nr = (p.real < 0) & (np.abs(p.imag) < sqrt_eps) & (np.abs(p.real+1) > sqrt_eps)
p_nr, p = p[m_nr], p[~m_nr]
if p_nr.size > 0:
t_emp = np.max(log_decay_percent / np.abs((np.log(p_nr)/dt).real))
Expand Down
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