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Margin fix #66

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Merged
repagh merged 2 commits into from
Jul 11, 2015
Merged

Margin fix #66

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00b2998
Bugfix: order of returned values in margin()
roryyorke Jun 25, 2015
b12e132
Bugfix: correct TestMatlab tests.
roryyorke Jun 25, 2015
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2 changes: 1 addition & 1 deletion control/margins.py
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Original file line number Diff line number Diff line change
Expand Up @@ -312,4 +312,4 @@ def margin(*args):
raise ValueError("Margin needs 1 or 3 arguments; received %i."
% len(args))

return margin[0], margin[1], margin[4], margin[3]
return margin[0], margin[1], margin[3], margin[4]
9 changes: 8 additions & 1 deletion control/tests/margin_test.py
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Expand Up @@ -20,6 +20,7 @@ def setUp(self):
s = TransferFunction([1, 0], [1])
self.sys4 = (8.75*(4*s**2+0.4*s+1))/((100*s+1)*(s**2+0.22*s+1)) * \
1./(s**2/(10.**2)+2*0.04*s/10.+1)
self.stability_margins4 = [2.2716, 97.5941, 1.0454, 10.0053, 0.0850, 0.4973]

def test_stability_margins(self):
gm, pm, sm, wg, wp, ws = stability_margins(self.sys1);
Expand All @@ -28,7 +29,13 @@ def test_stability_margins(self):
gm, pm, sm, wg, wp, ws = stability_margins(self.sys4);
np.testing.assert_array_almost_equal(
[gm, pm, sm, wg, wp, ws],
[2.2716, 97.5941, 1.0454, 10.0053, 0.0850, 0.4973], 3)
self.stability_margins4, 3)

def test_margin(self):
gm, pm, wg, wp = margin(self.sys4)
np.testing.assert_array_almost_equal(
[gm, pm, wg, wp],
self.stability_margins4[:2] + self.stability_margins4[3:5], 3)

def test_phase_crossover_frequencies(self):
omega, gain = phase_crossover_frequencies(self.sys2)
Expand Down
6 changes: 2 additions & 4 deletions control/tests/matlab_test.py
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Expand Up @@ -257,7 +257,7 @@ def testMargin(self):
gm, pm, wg, wp = margin(self.siso_ss2);
gm, pm, wg, wp = margin(self.siso_ss2*self.siso_ss2*2);
np.testing.assert_array_almost_equal(
[gm, pm, wg, wp], [1.5451, 75.9933, 0.6559, 1.2720], decimal=3)
[gm, pm, wg, wp], [1.5451, 75.9933, 1.2720, 0.6559], decimal=3)

def testDcgain(self):
#Create different forms of a SISO system
Expand Down Expand Up @@ -554,8 +554,6 @@ def testSS2cont(self):
-0.260952977031384 -0.274201791021713;
-0.304617775734327 0.075182622718853"""), sysd.B)


@unittest.skip("need to update margin command")
def testCombi01(self):
# test from a "real" case, combines tf, ss, connect and margin
# this is a type 2 system, with phase starting at -180. The
Expand Down Expand Up @@ -610,8 +608,8 @@ def testCombi01(self):
# print("%f %f %f %f" % (gm, pm, wg, wp))
self.assertAlmostEqual(gm, 3.32065569155)
self.assertAlmostEqual(pm, 46.9740430224)
self.assertAlmostEqual(wp, 0.0616288455466)
self.assertAlmostEqual(wg, 0.176469728448)
self.assertAlmostEqual(wp, 0.0616288455466)

#! TODO: not yet implemented
# def testMIMOtfdata(self):
Expand Down