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Merged
murrayrm merged 14 commits into from
May 30, 2016
Merged

bode-plot #69

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6d9d119
bode_plot: allow omega be specified by boundaries (min, max)
marthoch Jun 29, 2015
a2c4269
bode_plot:
marthoch Jul 3, 2015
c2c7381
bode_plot: worked on frequency range
marthoch Jul 5, 2015
f2c40e6
Added handling of bode_plot frequency limits for discrete systems.
marthoch Aug 16, 2015
ea67935
Added example as ipython notebook.
martinup Aug 17, 2015
5d56788
some cleanup in bode-plot and bode-plot example
martinup Aug 18, 2015
623ca94
Changed implementation of the limitation of evaluated frequencies for
martinup Aug 19, 2015
810287e
Merge remote-tracking branch 'python-control/master'
martinup Aug 21, 2015
3959f58
change order of argument to ensure backward compatibility
martinup Sep 5, 2015
64c9adb
fix documentation, spelling, order
martinup Sep 5, 2015
f07ef5a
complete documentation of default_frequency_range
martinup Sep 5, 2015
9e408b9
instead of using omege to define a frequency interval oInstead of usi…
martinup Sep 5, 2015
e2e24a5
add NotImplementedError in empty case
martinup Sep 5, 2015
3b6de2f
reworked feature selection for discrete systems
martinup Sep 7, 2015
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reworked feature selection for discrete systems
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@martinup
martinup committed Sep 7, 2015
commit 3b6de2fd987212531378d35ebd73e76842b07eab
5 changes: 3 additions & 2 deletions .gitignore
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Expand Up @@ -13,7 +13,8 @@ build.log
doc/_build
doc/generated

examples/.ipynb_checkpoints/bode-plot-checkpoint.ipynb
examples/.ipynb_checkpoints/
.settings/org.eclipse.core.resources.prefs
.pydevproject
.project
.project
Untitled*.ipynb
27 changes: 16 additions & 11 deletions control/freqplot.py
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Expand Up @@ -442,21 +442,26 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
try:
# Add new features to the list
if sys.isctime():
features_ = np.abs(sys.pole())
features_ = np.concatenate((features_, np.abs(sys.zero())))
features_ = np.concatenate((np.abs(sys.pole()),
np.abs(sys.zero())))
# Get rid of poles and zeros at the origin
features_ = features_[features_ != 0.0];
features = np.concatenate((features, features_))

@roryyorke roryyorke Sep 5, 2015

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Would it make sense to remove all poles and zeros on (or very near) the imaginary axis? It wouldn't make sense to remove such zeros for a Nyquist plot, I guess.

elif sys.isdtime(strict=True):
fn = np.pi * 1. / sys.dt
#TODO: What distance to the Nyquist frequency is appropriate?
freq_interesting.append(fn*0.9)
p = sys.pole()
p = p[p != -1.]
features = np.concatenate((features, np.abs(np.log(p) / sys.dt)))
z = sys.zero()
z = z[(z.imag != 0.0)] # Get rid of poles and zeros at the origin and real <= 0 & imag==0
features = np.concatenate((features, np.abs(np.log(z) / sys.dt)))
# TODO: What distance to the Nyquist frequency is appropriate?
freq_interesting.append(fn * 0.9)

features_ = np.concatenate((sys.pole(),
sys.zero()))
# Get rid of poles and zeros
# * at the origin and real <= 0 & imag==0: log!
# * at 1.: would result in omega=0. (logaritmic plot!)
features_ = features_[(features_.imag != 0.0) | (features_.real > 0.)]
features_ = features_[np.bitwise_not((features_.imag == 0.0) & (np.abs(features_.real - 1.0) < 1.e-10))]
# TODO: improve
features__ = np.abs(np.log(features_) / (1.j * sys.dt))
features = np.concatenate((features, features__))
else:
# TODO
raise NotImplementedError('type of system in not implemented now')
Expand All @@ -466,7 +471,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe

# Make sure there is at least one point in the range
if (features.shape[0] == 0):
features = [1];
features = np.array([1]);

if Hz:
features /= 2.*np.pi
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55 changes: 32 additions & 23 deletions examples/bode-plot.ipynb
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@@ -1,7 +1,7 @@
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Expand Down