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Merged
bnavigator merged 10 commits into from
Dec 26, 2021
Merged

new Pid design function built on sisotool #662

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3263646
new pid-designer, built on sisotool, for manual tuning of a PID contr…
sawyerbfuller Nov 2, 2021
c4bd384
attribution
sawyerbfuller Nov 2, 2021
ffd7b5f
changed color of root locus pole markers to black instead of randomly…
sawyerbfuller Nov 2, 2021
cd7faaa
fixed unit test code
sawyerbfuller Nov 2, 2021
ec0f0a8
renamed function to highlight that it is based on root locus, set ini…
sawyerbfuller Nov 4, 2021
3dca645
fix for github #623
sawyerbfuller Nov 4, 2021
5c3e823
added pointer to new function to docs
sawyerbfuller Nov 5, 2021
2af1171
more comprehensive system construction tests
sawyerbfuller Nov 5, 2021
746e089
return loop transfer function as statespace
sawyerbfuller Nov 5, 2021
4ee9fd1
small docstring fix
sawyerbfuller Nov 5, 2021
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more comprehensive system construction tests
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@sawyerbfuller
sawyerbfuller committed Nov 5, 2021
commit 2af117130d388b91a3b0b742879e3c6250e232a7
7 changes: 4 additions & 3 deletions control/sisotool.py
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Original file line number Diff line number Diff line change
Expand Up @@ -185,7 +185,7 @@ def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
Kp0=0, Ki0=0, Kd0=0, tau=0.01,
C_ff=0, derivative_in_feedback_path=False,
noplot=False):
plot=True):
"""Manual PID controller design based on root locus using Sisotool

Uses `Sisotool` to investigate the effect of adding or subtracting an
Expand Down Expand Up @@ -262,7 +262,8 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
derivative_in_feedback_path : bool (optional)
Whether to place the derivative term in feedback transfer function
`C_b` instead of the forward transfer function `C_f`.
noplot : bool (optional)
plot : bool (optional)
Whether to create Sisotool interactive plot.

Returns
----------
Expand Down Expand Up @@ -328,6 +329,6 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
C_ff, e_summer, u_summer),
inplist=['input', input_signal],
outlist=['output', 'y'])
if ~noplot:
if plot:
sisotool(loop, kvect=(0.,))
return _convert_to_statespace(loop[1, 1])
26 changes: 17 additions & 9 deletions control/tests/sisotool_test.py
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Expand Up @@ -151,18 +151,26 @@ def plant(self, request):
'syscont221':StateSpace([[-.3, 0],[1,0]],[[-1,],[.1,]], [0, -.3], 0)}
return plants[request.param]

# check
# cont or discrete, vary P I or D
# @pytest.mark.parametrize('plant', (syscont, sysdisc1))
@pytest.mark.parametrize('plant', ('syscont', 'sysdisc1'), indirect=True)
# test permutations of system construction without plotting
@pytest.mark.parametrize('plant', ('syscont', 'sysdisc1', 'syscont221'), indirect=True)
@pytest.mark.parametrize('gain', ('P', 'I', 'D'))
@pytest.mark.parametrize("kwargs", [{'Kp0':0.1, 'noplot':True},])
def test_pid_designer_1(self, plant, gain, kwargs):
rootlocus_pid_designer(plant, gain, **kwargs)

@pytest.mark.parametrize('sign', (1,))
@pytest.mark.parametrize('input_signal', ('r', 'd'))
@pytest.mark.parametrize('Kp0', (0,))
@pytest.mark.parametrize('Ki0', (1.,))
@pytest.mark.parametrize('Kd0', (0.1,))
@pytest.mark.parametrize('tau', (0.01,))
@pytest.mark.parametrize('C_ff', (0, 1,))
@pytest.mark.parametrize('derivative_in_feedback_path', (True, False,))
@pytest.mark.parametrize("kwargs", [{'plot':False},])
def test_pid_designer_1(self, plant, gain, sign, input_signal, Kp0, Ki0, Kd0, tau, C_ff,
derivative_in_feedback_path, kwargs):
rootlocus_pid_designer(plant, gain, sign, input_signal, Kp0, Ki0, Kd0, tau, C_ff,
derivative_in_feedback_path, **kwargs)

# test creation of sisotool plot
# input from reference or disturbance
@pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)
# @pytest.mark.parametrize('plant', (syscont, syscont221))
@pytest.mark.parametrize("kwargs", [
{'input_signal':'r', 'Kp0':0.01, 'derivative_in_feedback_path':True},
{'input_signal':'d', 'Kp0':0.01, 'derivative_in_feedback_path':True},])
Expand Down