diff --git a/control/rlocus.py b/control/rlocus.py
index b3c14123a..631185cc6 100644
--- a/control/rlocus.py
+++ b/control/rlocus.py
@@ -42,15 +42,15 @@ def root_locus_map(sysdata, gains=None):
"""Compute the root locus map for an LTI system.
Calculate the root locus by finding the roots of 1 + k * G(s) where G
- is a linear system with transfer function num(s)/den(s) and each k is
- an element of kvect.
+ is a linear system and k varies over a range of gains.
Parameters
----------
sys : LTI system or list of LTI systems
Linear input/output systems (SISO only, for now).
gains : array_like, optional
- Gains to use in computing plot of closed-loop poles.
+ Gains to use in computing plot of closed-loop poles. If not given,
+ gains are chosen to include the main features of the root locus map.
Returns
-------
@@ -98,20 +98,20 @@ def root_locus_map(sysdata, gains=None):
def root_locus_plot(
- sysdata, kvect=None, grid=None, plot=None, **kwargs):
+ sysdata, gains=None, grid=None, plot=None, **kwargs):
"""Root locus plot.
Calculate the root locus by finding the roots of 1 + k * G(s) where G
- is a linear system with transfer function num(s)/den(s) and each k is
- an element of kvect.
+ is a linear system and k varies over a range of gains.
Parameters
----------
sysdata : PoleZeroMap or LTI object or list
Linear input/output systems (SISO only, for now).
- kvect : array_like, optional
- Gains to use in computing plot of closed-loop poles.
+ gains : array_like, optional
+ Gains to use in computing plot of closed-loop poles. If not given,
+ gains are chosen to include the main features of the root locus map.
xlim : tuple or list, optional
Set limits of x axis, normally with tuple
(see :doc:`matplotlib:api/axes_api`).
@@ -145,10 +145,9 @@ def root_locus_plot(
* lines[idx, 2]: loci
roots, gains : ndarray
- (legacy) If the `plot` keyword is given, returns the
- closed-loop root locations, arranged such that each row
- corresponds to a gain in gains, and the array of gains (ame as
- kvect keyword argument if provided).
+ (legacy) If the `plot` keyword is given, returns the closed-loop
+ root locations, arranged such that each row corresponds to a gain,
+ and the array of gains (same as `gains` keyword argument if provided).
Notes
-----
@@ -160,13 +159,16 @@ def root_locus_plot(
"""
from .pzmap import pole_zero_plot
+ # Legacy parameters
+ gains = config._process_legacy_keyword(kwargs, 'kvect', 'gains', gains)
+
# Set default parameters
grid = config._get_param('rlocus', 'grid', grid, _rlocus_defaults)
if isinstance(sysdata, list) and all(
[isinstance(sys, LTI) for sys in sysdata]) or \
isinstance(sysdata, LTI):
- responses = root_locus_map(sysdata, gains=kvect)
+ responses = root_locus_map(sysdata, gains=gains)
else:
responses = sysdata
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
index 5511f5b82..0b3e868e9 100644
--- a/control/tests/rlocus_test.py
+++ b/control/tests/rlocus_test.py
@@ -180,6 +180,13 @@ def test_root_locus_plots(sys, grid, xlim, ylim, interactive):
# TODO: add tests to make sure everything "looks" OK
+# Test deprecated keywords
+def test_root_locus_legacy():
+ sys = ct.rss(2, 1, 1)
+ with pytest.warns(DeprecationWarning, match="'kvect' is deprecated"):
+ ct.root_locus_plot(sys, kvect=[0, 1, 2])
+
+
# Generate plots used in documentation
def test_root_locus_documentation(savefigs=False):
plt.figure()
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