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Better I/O systems support for phase plots #1001

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Merged
murrayrm merged 13 commits into from
Jun 26, 2024
Merged

Better I/O systems support for phase plots #1001

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ff2fe8d
add better check for find_eqpt with mixed specifications
murrayrm Apr 20, 2024
df2436f
fix nlsys conversion of float, array to dt=None
murrayrm May 11, 2024
f6f88f8
add support for nlsys w/out inputs or outputs
murrayrm May 11, 2024
d44a577
allow solve_ivp errors and improve arrow placement
murrayrm Jun 5, 2024
1b71fa0
add warning messages on trajectory errors (+ ability to suppress)
murrayrm Jun 5, 2024
ab3b498
tweak arrow placement in _add_arrows_to_line2D
murrayrm Jun 6, 2024
44ccafb
add invpend example from Caltech CDS 110
murrayrm Jun 8, 2024
5d0450b
change phase_plane_plot to use axes.set_title instead of fig.suptitle
murrayrm Jun 8, 2024
57e3e4e
fix bug in the way dir=-1 arrows are handled at endpoint
murrayrm Jun 8, 2024
b34f72e
using hanging indent for import (isort -m2)
murrayrm Jun 8, 2024
d6432ca
revert unneeded change on find_eqpt checks for arg lengths
murrayrm Jun 8, 2024
c72fa91
final tweaks of arrow code
murrayrm Jun 8, 2024
951e171
updates to address @slivingston review comments
murrayrm Jun 26, 2024
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fix bug in the way dir=-1 arrows are handled at endpoint
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@murrayrm
murrayrm committed Jun 8, 2024
commit 57e3e4efc8e1c7c676a642dc484352fc6b67a0ea
1 change: 0 additions & 1 deletion control/freqplot.py
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Expand Up @@ -1991,7 +1991,6 @@ def _add_arrows_to_line2D(

elif dir == -1:
# Orient the arrow in the other direction on the segment
n = s.size - 2 if n == s.size - 1 else n # move backward at end
arrow_tail = (x[n + 1], y[n + 1])
arrow_head = (np.mean(x[n:n + 2]), np.mean(y[n:n + 2]))

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4 changes: 1 addition & 3 deletions examples/pvtol-nested.py
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Expand Up @@ -61,8 +61,6 @@
Hi = ct.parallel(ct.feedback(Ci, Pi), -m * g *ct.feedback(Ci * Pi, 1))

plt.figure(4)
plt.clf()
plt.subplot(221)
ct.bode_plot(Hi)

# Now design the lateral control system
Expand Down Expand Up @@ -129,7 +127,7 @@
#
plt.figure(7)
plt.clf()
ct.nyquist_plot(L, (0.0001, 1000))
ct.nyquist_plot(L)

# Add a box in the region we are going to expand
plt.plot([-2, -2, 1, 1, -2], [-4, 4, 4, -4, -4], 'r-')
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