diff --git a/control/freqplot.py b/control/freqplot.py
index d34906855..a749c3f6d 100644
--- a/control/freqplot.py
+++ b/control/freqplot.py
@@ -276,18 +276,21 @@ def bode_plot(syslist, omega=None,
if initial_phase is None:
# Start phase in the range 0 to -360 w/ initial phase = -180
# If wrap_phase is true, use 0 instead (phase \in (-pi, pi])
- initial_phase = -math.pi if wrap_phase is not True else 0
+ initial_phase_value = -math.pi if wrap_phase is not True else 0
elif isinstance(initial_phase, (int, float)):
# Allow the user to override the default calculation
if deg:
- initial_phase = initial_phase/180. * math.pi
+ initial_phase_value = initial_phase/180. * math.pi
+ else:
+ initial_phase_value = initial_phase
+
else:
raise ValueError("initial_phase must be a number.")
# Shift the phase if needed
- if abs(phase[0] - initial_phase) > math.pi:
+ if abs(phase[0] - initial_phase_value) > math.pi:
phase -= 2*math.pi * \
- round((phase[0] - initial_phase) / (2*math.pi))
+ round((phase[0] - initial_phase_value) / (2*math.pi))
# Phase wrapping
if wrap_phase is False:
@@ -1021,9 +1024,11 @@ def _parse_linestyle(style_name, allow_false=False):
# Plot the scaled sections of the curve (changing linestyle)
x_scl = np.ma.masked_where(scale_mask, resp.real)
y_scl = np.ma.masked_where(scale_mask, resp.imag)
- plt.plot(
- x_scl * (1 + curve_offset), y_scl * (1 + curve_offset),
- primary_style[1], color=c, **kwargs)
+ if x_scl.count() >= 1 and y_scl.count() >= 1:
+ plt.plot(
+ x_scl * (1 + curve_offset),
+ y_scl * (1 + curve_offset),
+ primary_style[1], color=c, **kwargs)
# Plot the primary curve (invisible) for setting arrows
x, y = resp.real.copy(), resp.imag.copy()
@@ -1041,10 +1046,11 @@ def _parse_linestyle(style_name, allow_false=False):
# Plot the regular and scaled segments
plt.plot(
x_reg, -y_reg, mirror_style[0], color=c, **kwargs)
- plt.plot(
- x_scl * (1 - curve_offset),
- -y_scl * (1 - curve_offset),
- mirror_style[1], color=c, **kwargs)
+ if x_scl.count() >= 1 and y_scl.count() >= 1:
+ plt.plot(
+ x_scl * (1 - curve_offset),
+ -y_scl * (1 - curve_offset),
+ mirror_style[1], color=c, **kwargs)
# Add the arrows (on top of an invisible contour)
x, y = resp.real.copy(), resp.imag.copy()
diff --git a/control/tests/freqresp_test.py b/control/tests/freqresp_test.py
index 573fd6359..9fc52112a 100644
--- a/control/tests/freqresp_test.py
+++ b/control/tests/freqresp_test.py
@@ -375,6 +375,18 @@ def test_phase_wrap(TF, wrap_phase, min_phase, max_phase):
assert(max(phase) <= max_phase)
+def test_phase_wrap_multiple_systems():
+ sys_unstable = ctrl.zpk([],[1,1], gain=1)
+
+ mag, phase, omega = ctrl.bode(sys_unstable, plot=False)
+ assert(np.min(phase) >= -2*np.pi)
+ assert(np.max(phase) <= -1*np.pi)
+
+ mag, phase, omega = ctrl.bode((sys_unstable, sys_unstable), plot=False)
+ assert(np.min(phase) >= -2*np.pi)
+ assert(np.max(phase) <= -1*np.pi)
+
+
def test_freqresp_warn_infinite():
"""Test evaluation warnings for transfer functions w/ pole at the origin"""
sys_finite = ctrl.tf([1], [1, 0.01])
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