diff --git a/control/margins.py b/control/margins.py
index 301baaf57..019c866be 100644
--- a/control/margins.py
+++ b/control/margins.py
@@ -81,11 +81,16 @@ def _poly_iw_sqr(pol_iw):
def _poly_iw_real_crossing(num_iw, den_iw, epsw):
# Return w where imag(H(iw)) == 0
+
+ # Compute the imaginary part of H = (num.r + j num.i)/(den.r + j den.i)
test_w = np.polysub(np.polymul(num_iw.imag, den_iw.real),
np.polymul(num_iw.real, den_iw.imag))
+
+ # Find the real-valued w > 0 where imag(H(iw)) = 0
w = np.roots(test_w)
w = np.real(w[np.isreal(w)])
w = w[w >= epsw]
+
return w
@@ -471,7 +476,7 @@ def phase_crossover_frequencies(sys):
omega : ndarray
1d array of (non-negative) frequencies where Nyquist plot
intersects the real axis
- gain : ndarray
+ gains : ndarray
1d array of corresponding gains
Examples
@@ -493,13 +498,13 @@ def phase_crossover_frequencies(sys):
omega = _poly_iw_real_crossing(num_iw, den_iw, 0.)
# using real() to avoid rounding errors and results like 1+0j
- gain = np.real(evalfr(sys, 1J * omega))
+ gains = np.real(sys(omega * 1j, warn_infinite=False))
else:
zargs = _poly_z_invz(sys)
z, omega = _poly_z_real_crossing(*zargs, epsw=0.)
- gain = np.real(evalfr(sys, z))
+ gains = np.real(sys(z, warn_infinite=False))
- return omega, gain
+ return omega, gains
def margin(*args):
diff --git a/control/tests/margin_test.py b/control/tests/margin_test.py
index 07e21114f..43cd68ae3 100644
--- a/control/tests/margin_test.py
+++ b/control/tests/margin_test.py
@@ -12,12 +12,9 @@
from numpy import inf, nan
from numpy.testing import assert_allclose
-from control.frdata import FrequencyResponseData
-from control.margins import (margin, phase_crossover_frequencies,
- stability_margins)
-from control.statesp import StateSpace
-from control.xferfcn import TransferFunction
-from control.exception import ControlMIMONotImplemented
+from control import ControlMIMONotImplemented, FrequencyResponseData, \
+ StateSpace, TransferFunction, margin, phase_crossover_frequencies, \
+ stability_margins
s = TransferFunction.s
@@ -111,7 +108,6 @@ def test_margin_3input(tsys):
out = margin((mag, phase*180/np.pi, omega_))
assert_allclose(out, np.array(refout)[[0, 1, 3, 4]], atol=1.5e-3)
-
@pytest.mark.parametrize(
'tfargs, omega_ref, gain_ref',
[(([1], [1, 2, 3, 4]), [1.7325, 0.], [-0.5, 0.25]),
@@ -119,7 +115,10 @@ def test_margin_3input(tsys):
(([2], [1, 3, 3, 1]), [1.732, 0.], [-0.25, 2.]),
((np.array([3, 11, 3]) * 1e-4, [1., -2.7145, 2.4562, -0.7408], .1),
[1.6235, 0.], [-0.28598, 1.88889]),
+ (([200.0], [1.0, 21.0, 20.0, 0.0]),
+ [4.47213595, 0], [-0.47619048, inf]),
])
+@pytest.mark.filterwarnings("error")
def test_phase_crossover_frequencies(tfargs, omega_ref, gain_ref):
"""Test phase_crossover_frequencies() function"""
sys = TransferFunction(*tfargs)
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