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fix gain handling in rlocus and sisotool #809

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Merged
murrayrm merged 6 commits into from
Dec 16, 2022
Merged

fix gain handling in rlocus and sisotool #809

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3854050
allow sisotool to receive kvect as a singleton rather than always an …
sawyerbfuller Dec 7, 2022
feb9010
improved docstring for kvect in sisotool
sawyerbfuller Dec 9, 2022
e808adb
docstring improvements, pep8 cleanup, more descriptive names for inte…
sawyerbfuller Dec 9, 2022
4107950
introduce new keyword for sisotool: initial_gain, which denotes gain …
sawyerbfuller Dec 9, 2022
eadd496
test to make sure kvect gains are respected even if plotting
sawyerbfuller Dec 9, 2022
15543ff
rename mymat to root_array for clarity
sawyerbfuller Dec 9, 2022
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allow sisotool to receive kvect as a singleton rather than always an … 
…array
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@sawyerbfuller
sawyerbfuller committed Dec 7, 2022
commit 385405086bc0010e634c77b877240814c4bd11b7
4 changes: 4 additions & 0 deletions control/sisotool.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
from .bdalg import append, connect
from .iosys import tf2io, ss2io, summing_junction, interconnect
from control.statesp import _convert_to_statespace, StateSpace
import numpy as np
import matplotlib.pyplot as plt
import warnings

Expand Down Expand Up @@ -101,6 +102,9 @@ def sisotool(sys, kvect=None, xlim_rlocus=None, ylim_rlocus=None,
'margins': margins_bode
}

# make sure kvect is an array
if kvect is not None and ~hasattr(kvect, '__len__'):
kvect = np.atleast_1d(kvect)
# First time call to setup the bode and step response plots
_SisotoolUpdate(sys, fig,
1 if kvect is None else kvect[0], bode_plot_params)
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10 changes: 10 additions & 0 deletions control/tests/sisotool_test.py
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Expand Up @@ -136,6 +136,16 @@ def test_sisotool_tvect(self, tsys):
bode_plot_params=dict(), tvect=tvect)
assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

@pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
reason="Requires the zoom toolbar")
def test_sisotool_kvect(self, tsys):
# test supply kvect
kvect = np.linspace(0, 1, 10)
# check if it can receive an array
sisotool(tsys, kvect=kvect)
# check if it can receive a singleton
sisotool(tsys, kvect=1)


def test_sisotool_mimo(self, sys222, sys221):
# a 2x2 should not raise an error:
Expand Down