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Copy pathplot_gallery.py
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163 lines (142 loc) · 5.42 KB
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# plot_gallery.py - different types of plots for comparing versions
# RMM, 19 Jun 2024
#
# This file collects together some of the more interesting plots that can
# be generated by python-control and puts them into a PDF file that can be
# used to compare what things look like between different versions of the
# library. It is mainly intended for uses by developers to make sure there
# are no unexpected changes in plot formats, but also has some interest
# examples of things you can plot.
import os
import sys
from math import pi
import matplotlib.pyplot as plt
import numpy as np
import control as ct
# Don't save figures if we are running CI tests
savefigs = 'PYCONTROL_TEST_EXAMPLES' not in os.environ
if savefigs:
# Create a pdf file for storing the results
import subprocess
from matplotlib.backends.backend_pdf import PdfPages
from datetime import date
git_info = subprocess.check_output(['git', 'describe'], text=True).strip()
pdf = PdfPages(
f'plot_gallery-{git_info}-{date.today().isoformat()}.pdf')
# Context manager to handle plotting
class create_figure(object):
def __init__(self, name):
self.name = name
def __enter__(self):
self.fig = plt.figure()
print(f"Generating {self.name} as Figure {self.fig.number}")
return self.fig
def __exit__(self, type, value, traceback):
if type is not None:
print(f"Exception: {type=}, {value=}, {traceback=}")
if savefigs:
pdf.savefig()
if hasattr(sys, 'ps1'):
# Show the figures on the screen
plt.show(block=False)
else:
plt.close()
# Define systems to use throughout
sys1 = ct.tf([1], [1, 2, 1], name='sys1')
sys2 = ct.tf([1, 0.2], [1, 1, 3, 1, 1], name='sys2')
sys_mimo1 = ct.tf2ss(
[[[1], [0.1]], [[0.2], [1]]],
[[[1, 0.6, 1], [1, 1, 1]], [[1, 0.4, 1], [1, 2, 1]]], name="sys_mimo1")
sys_mimo2 = ct.tf2ss(
[[[1], [0.1]], [[0.2], [1]]],
[[[1, 0.2, 1], [1, 24, 22, 5]], [[1, 4, 16, 21], [1, 0.1]]],
name="sys_mimo2")
sys_frd = ct.frd(
[[np.array([10 + 0j, 5 - 5j, 1 - 1j, 0.5 - 1j, -.1j]),
np.array([1j, 0.5 - 0.5j, -0.5, 0.1 - 0.1j, -.05j]) * 0.1],
[np.array([10 + 0j, -20j, -10, 2j, 1]),
np.array([10 + 0j, 5 - 5j, 1 - 1j, 0.5 - 1j, -.1j]) * 0.01]],
np.logspace(-2, 2, 5))
sys_frd.name = 'frd' # For backward compatibility
# Close all existing figures
plt.close('all')
# bode
with create_figure("Bode plot"):
try:
ct.bode_plot([sys_mimo1, sys_mimo2])
except AttributeError:
print(" - falling back to earlier method")
plt.clf()
ct.bode_plot(sys_mimo1)
ct.bode_plot(sys_mimo2)
# describing function
with create_figure("Describing function plot"):
H = ct.tf([1], [1, 2, 2, 1]) * 8
F = ct.descfcn.saturation_nonlinearity(1)
amp = np.linspace(1, 4, 10)
ct.describing_function_response(H, F, amp).plot()
# nichols
with create_figure("Nichols chart"):
response = ct.frequency_response([sys1, sys2])
ct.nichols_plot(response)
# nyquist
with create_figure("Nyquist plot"):
ct.nyquist_plot([sys1, sys2])
# phase plane
with create_figure("Phase plane plot"):
def invpend_update(t, x, u, params):
m, l, b, g = params['m'], params['l'], params['b'], params['g']
return [x[1], -b/m * x[1] + (g * l / m) * np.sin(x[0]) + u[0]/m]
invpend = ct.nlsys(invpend_update, states=2, inputs=1, name='invpend')
ct.phase_plane_plot(
invpend, [-2*pi, 2*pi, -2, 2], 5,
gridtype='meshgrid', gridspec=[5, 8], arrows=3,
plot_separatrices={'gridspec': [12, 9]},
params={'m': 1, 'l': 1, 'b': 0.2, 'g': 1})
# pole zero map
with create_figure("Pole/zero map"):
T = ct.tf(
[-9.0250000e-01, -4.7200750e+01, -8.6812900e+02,
+5.6261850e+03, +2.1258472e+05, +8.4724600e+05,
+1.0192000e+06, +2.3520000e+05],
[9.02500000e-03, 9.92862812e-01, 4.96974094e+01,
1.35705659e+03, 2.09294163e+04, 1.64898435e+05,
6.54572220e+05, 1.25274600e+06, 1.02420000e+06,
2.35200000e+05], name='T')
ct.pole_zero_plot([T, sys2])
# root locus
with create_figure("Root locus plot") as fig:
ax_array = ct.pole_zero_subplots(2, 1, grid=[True, False])
ax1, ax2 = ax_array[:, 0]
sys1 = ct.tf([1, 2], [1, 2, 3], name='sys1')
sys2 = ct.tf([1, 0.2], [1, 1, 3, 1, 1], name='sys2')
ct.root_locus_plot([sys1, sys2], ax=ax1)
ct.root_locus_plot([sys1, sys2], ax=ax2)
plt.suptitle("Root locus plots (w/ specified axes)", fontsize='medium')
# sisotool
with create_figure("sisotool"):
s = ct.tf('s')
H = (s+0.3)/(s**4 + 4*s**3 + 6.25*s**2)
ct.sisotool(H)
# step response
with create_figure("step response") as fig:
try:
ct.step_response([sys_mimo1, sys_mimo2]).plot()
except ValueError:
print(" - falling back to earlier method")
fig.clf()
ct.step_response(sys_mimo1).plot()
ct.step_response(sys_mimo2).plot()
# time response
with create_figure("time response"):
timepts = np.linspace(0, 10)
U = np.vstack([np.sin(timepts), np.cos(2*timepts)])
resp1 = ct.input_output_response(sys_mimo1, timepts, U)
U = np.vstack([np.cos(2*timepts), np.sin(timepts)])
resp2 = ct.input_output_response(sys_mimo1, timepts, U)
resp = ct.combine_time_responses(
[resp1, resp2], trace_labels=["resp1", "resp2"])
resp.plot(transpose=True)
# Show the figures if running in interactive mode
if savefigs:
pdf.close()