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fix blank bode plot in rootlocus_pid_designer #883

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Merged
murrayrm merged 7 commits into from
Apr 23, 2023
Merged

fix blank bode plot in rootlocus_pid_designer #883

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a0877c5
fix blank bode plot in rootlocus_pid_designer
sawyerbfuller Apr 14, 2023
c3a013b
TRV: fix docstring typo in rootlocus_pid_designer
murrayrm Apr 15, 2023
5d7a8d3
added noteto docstring for how to use when no interative plots
sawyerbfuller Apr 16, 2023
7f4e2ed
merge
sawyerbfuller Apr 16, 2023
0fb9d94
enable deltaK in sisotool for non-interactive use, docstring improvem…
sawyerbfuller Apr 19, 2023
74d96f0
added new kwarg to tests, un-skip tests that were previously giving w…
sawyerbfuller Apr 19, 2023
fabcb37
add %matplotlib note + tweak docstrings
murrayrm Apr 23, 2023
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added noteto docstring for how to use when no interative plots
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@sawyerbfuller
sawyerbfuller committed Apr 16, 2023
commit 5d7a8d3d8bb361ed6995b2e41b5692ac62b719b7
13 changes: 11 additions & 2 deletions control/sisotool.py
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Expand Up @@ -220,6 +220,15 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
`'I'`, or `'D'`). Make sure to add the resulting `deltaK` to your chosen
initial gain on the next iteration.

Note: Clicking on interactive plots feature is not currently compatible
with in-line plots in the Jupyter Notebook including online notebooks.
The alternative is to iteratively explore calling this function with
different initial argument values `Kp0`, `Ki0`, and `Kd0`. If you are
running the notebook on your local computer, it may be possible to spawn
separate interactive plots outside of the notebook with a command, e.g.
`%matplotlib qt`; when you are done, `%matplotlib inline` returns to
inline plots.

Example: to examine the effect of varying `Kp` starting from an intial
value of 10, use the arguments `gain='P', Kp0=10`. Suppose a `deltaK`
value of 5 gives satisfactory performance. Then on the next iteration,
Expand Down Expand Up @@ -254,7 +263,7 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
its second input rather than being added to `u`.

Remark: It may be helpful to zoom in using the magnifying glass on the
plot. Just ake sure to deactivate magnification mode when you are done by
plot. Just make sure to deactivate magnification mode when you are done by
clicking the magnifying glass. Otherwise you will not be able to be able
to choose a gain on the root locus plot.

Expand Down Expand Up @@ -320,7 +329,7 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
deriv = tf([1, -1], [dt, 0], dt)

# add signal names by turning into iosystems
prop = tf2io(prop, inputs='e', outputs='prop_e')
prop = tf2io(prop, )
integ = tf2io(integ, inputs='e', outputs='int_e')
if derivative_in_feedback_path:
deriv = tf2io(-deriv, inputs='y', outputs='deriv')
Expand Down