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Add smart selection of gains for root locus plot. Calculation of break… #132

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Add smart selection of gains for root locus plot. Calculation of break… #132

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ee7c35d
Add smart selection of gains in root locus plot. Calculation of break…
gonmolina Feb 16, 2017
1b2bd96
Took into account comments made in pull request #132:
gonmolina Feb 17, 2017
f9c4df2
gains selected inside_defualt_gains.
gonmolina Feb 18, 2017
1474e82
fix bug using np.max
gonmolina Feb 18, 2017
32fe9b6
fix error in evaluation on break points
gonmolina Feb 18, 2017
03df169
add zeros to vector of roots when calculation of axis limits it is pr…
gonmolina Feb 19, 2017
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add zeros to vector of roots when calculation of axis limits it is pr… 
…eformed.
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@gonmolina
gonmolina committed Feb 19, 2017
commit 03df169d6f9f0de4e9eac2781080d5e3274c9892
14 changes: 10 additions & 4 deletions control/rlocus.py
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Expand Up @@ -188,18 +188,24 @@ def _default_gains(num, den, xlim, ylim):
mymat = _find_roots(num, den, gvec)
mymat = _sort_roots(mymat)
# set smoothing tolerance
if (olzer.size != 0) and (olzer.size < olpol.size):
olzer_xl = np.append(olzer, np.ones(olpol.size - olzer.size) * olzer[-1])
mymat_xl = np.append(mymat, olzer_xl)
else:
mymat_xl = mymat

if xlim is None:
smtolx = 0.01 * (np.max(np.max(np.real(mymat))) - np.min(np.min(np.real(mymat))))
smtolx = 0.01 * (np.max(np.max(np.real(mymat_xl))) - np.min(np.min(np.real(mymat_xl))))
else:
smtolx = 0.01 * (xlim[1] - xlim[0])
if ylim is None:
smtoly = 0.01 * (np.max(np.max(np.imag(mymat))) - np.min(np.min(np.imag(mymat))))
smtoly = 0.01 * (np.max(np.max(np.imag(mymat_xl))) - np.min(np.min(np.imag(mymat_xl))))
else:
smtoly = 0.01 * (ylim[1] - ylim[0])

smtol = np.max(np.real([smtolx, smtoly]))
xl = _ax_lim(mymat)
yl = _ax_lim(mymat * 1j)
xl = _ax_lim(mymat_xl)
yl = _ax_lim(mymat_xl * 1j)

while ~done & (ngain < 1000):
done = True
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