diff --git a/control/config.py b/control/config.py
index f61469394..02028cfba 100644
--- a/control/config.py
+++ b/control/config.py
@@ -114,11 +114,11 @@ def use_matlab_defaults():
The following conventions are used:
* Bode plots plot gain in dB, phase in degrees, frequency in
- Hertz, with grids
+ rad/sec, with grids
* State space class and functions use Numpy matrix objects
"""
- set_defaults('bode', dB=True, deg=True, Hz=True, grid=True)
+ set_defaults('bode', dB=True, deg=True, Hz=False, grid=True)
set_defaults('statesp', use_numpy_matrix=True)
@@ -128,7 +128,7 @@ def use_fbs_defaults():
The following conventions are used:
* Bode plots plot gain in powers of ten, phase in degrees,
- frequency in Hertz, no grid
+ frequency in rad/sec, no grid
"""
set_defaults('bode', dB=False, deg=True, Hz=False, grid=False)
diff --git a/control/freqplot.py b/control/freqplot.py
index c8b513943..a1772fea7 100644
--- a/control/freqplot.py
+++ b/control/freqplot.py
@@ -80,7 +80,7 @@
def bode_plot(syslist, omega=None,
- Plot=True, omega_limits=None, omega_num=None,
+ plot=True, omega_limits=None, omega_num=None,
margins=None, *args, **kwargs):
"""Bode plot for a system
@@ -100,7 +100,7 @@ def bode_plot(syslist, omega=None,
deg : bool
If True, plot phase in degrees (else radians). Default value (True)
config.defaults['bode.deg']
- Plot : bool
+ plot : bool
If True (default), plot magnitude and phase
omega_limits: tuple, list, ... of two values
Limits of the to generate frequency vector.
@@ -110,9 +110,9 @@ def bode_plot(syslist, omega=None,
config.defaults['freqplot.number_of_samples'].
margins : bool
If True, plot gain and phase margin.
- *args
- Additional arguments for :func:`matplotlib.plot` (color, linestyle, etc)
- **kwargs:
+ *args : `matplotlib` plot positional properties, optional
+ Additional arguments for `matplotlib` plots (color, linestyle, etc)
+ **kwargs : `matplotlib` plot keyword properties, optional
Additional keywords (passed to `matplotlib`)
Returns
@@ -153,12 +153,20 @@ def bode_plot(syslist, omega=None,
# Make a copy of the kwargs dictonary since we will modify it
kwargs = dict(kwargs)
+ # Check to see if legacy 'Plot' keyword was used
+ if 'Plot' in kwargs:
+ import warnings
+ warnings.warn("'Plot' keyword is deprecated in bode_plot; use 'plot'",
+ FutureWarning)
+ # Map 'Plot' keyword to 'plot' keyword
+ plot = kwargs.pop('Plot')
+
# Get values for params (and pop from list to allow keyword use in plot)
dB = config._get_param('bode', 'dB', kwargs, _bode_defaults, pop=True)
deg = config._get_param('bode', 'deg', kwargs, _bode_defaults, pop=True)
Hz = config._get_param('bode', 'Hz', kwargs, _bode_defaults, pop=True)
grid = config._get_param('bode', 'grid', kwargs, _bode_defaults, pop=True)
- Plot = config._get_param('bode', 'grid', Plot, True)
+ plot = config._get_param('bode', 'grid', plot, True)
margins = config._get_param('bode', 'margins', margins, False)
# If argument was a singleton, turn it into a list
@@ -211,7 +219,7 @@ def bode_plot(syslist, omega=None,
# Get the dimensions of the current axis, which we will divide up
# TODO: Not current implemented; just use subplot for now
- if Plot:
+ if plot:
nyquistfrq_plot = None
if Hz:
omega_plot = omega_sys / (2. * math.pi)
@@ -429,12 +437,13 @@ def gen_zero_centered_series(val_min, val_max, period):
else:
return mags, phases, omegas
+
#
# Nyquist plot
#
-def nyquist_plot(syslist, omega=None, Plot=True,
- labelFreq=0, arrowhead_length=0.1, arrowhead_width=0.1,
+def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
+ arrowhead_length=0.1, arrowhead_width=0.1,
color=None, *args, **kwargs):
"""
Nyquist plot for a system
@@ -451,13 +460,13 @@ def nyquist_plot(syslist, omega=None, Plot=True,
If True, plot magnitude
color : string
Used to specify the color of the plot
- labelFreq : int
+ label_freq : int
Label every nth frequency on the plot
arrowhead_width : arrow head width
arrowhead_length : arrow head length
- *args
- Additional arguments for :func:`matplotlib.plot` (color, linestyle, etc)
- **kwargs:
+ *args : `matplotlib` plot positional properties, optional
+ Additional arguments for `matplotlib` plots (color, linestyle, etc)
+ **kwargs : `matplotlib` plot keyword properties, optional
Additional keywords (passed to `matplotlib`)
Returns
@@ -475,6 +484,22 @@ def nyquist_plot(syslist, omega=None, Plot=True,
>>> real, imag, freq = nyquist_plot(sys)
"""
+ # Check to see if legacy 'Plot' keyword was used
+ if 'Plot' in kwargs:
+ import warnings
+ warnings.warn("'Plot' keyword is deprecated in nyquist_plot; "
+ "use 'plot'", FutureWarning)
+ # Map 'Plot' keyword to 'plot' keyword
+ plot = kwargs.pop('Plot')
+
+ # Check to see if legacy 'labelFreq' keyword was used
+ if 'labelFreq' in kwargs:
+ import warnings
+ warnings.warn("'labelFreq' keyword is deprecated in nyquist_plot; "
+ "use 'label_freq'", FutureWarning)
+ # Map 'labelFreq' keyword to 'label_freq' keyword
+ label_freq = kwargs.pop('labelFreq')
+
# If argument was a singleton, turn it into a list
if not getattr(syslist, '__iter__', False):
syslist = (syslist,)
@@ -507,7 +532,7 @@ def nyquist_plot(syslist, omega=None, Plot=True,
x = sp.multiply(mag, sp.cos(phase))
y = sp.multiply(mag, sp.sin(phase))
- if Plot:
+ if plot:
# Plot the primary curve and mirror image
p = plt.plot(x, y, '-', color=color, *args, **kwargs)
c = p[0].get_color()
@@ -527,8 +552,8 @@ def nyquist_plot(syslist, omega=None, Plot=True,
plt.plot([-1], [0], 'r+')
# Label the frequencies of the points
- if labelFreq:
- ind = slice(None, None, labelFreq)
+ if label_freq:
+ ind = slice(None, None, label_freq)
for xpt, ypt, omegapt in zip(x[ind], y[ind], omega[ind]):
# Convert to Hz
f = omegapt / (2 * sp.pi)
@@ -550,7 +575,7 @@ def nyquist_plot(syslist, omega=None, Plot=True,
str(int(np.round(f / 1000 ** pow1000, 0))) + ' ' +
prefix + 'Hz')
- if Plot:
+ if plot:
ax = plt.gca()
ax.set_xlabel("Real axis")
ax.set_ylabel("Imaginary axis")
@@ -558,6 +583,7 @@ def nyquist_plot(syslist, omega=None, Plot=True,
return x, y, omega
+
#
# Gang of Four plot
#
@@ -575,6 +601,8 @@ def gangof4_plot(P, C, omega=None, **kwargs):
Linear input/output systems (process and control)
omega : array
Range of frequencies (list or bounds) in rad/sec
+ **kwargs : `matplotlib` plot keyword properties, optional
+ Additional keywords (passed to `matplotlib`)
Returns
-------
@@ -590,16 +618,16 @@ def gangof4_plot(P, C, omega=None, **kwargs):
Hz = config._get_param('bode', 'Hz', kwargs, _bode_defaults, pop=True)
grid = config._get_param('bode', 'grid', kwargs, _bode_defaults, pop=True)
- # Select a default range if none is provided
- # TODO: This needs to be made more intelligent
- if omega is None:
- omega = default_frequency_range((P, C))
-
# Compute the senstivity functions
L = P * C
S = feedback(1, L)
T = L * S
+ # Select a default range if none is provided
+ # TODO: This needs to be made more intelligent
+ if omega is None:
+ omega = default_frequency_range((P, C, S))
+
# Set up the axes with labels so that multiple calls to
# gangof4_plot will superimpose the data. See details in bode_plot.
plot_axes = {'t': None, 's': None, 'ps': None, 'cs': None}
@@ -628,36 +656,49 @@ def gangof4_plot(P, C, omega=None, **kwargs):
# TODO: Need to add in the mag = 1 lines
mag_tmp, phase_tmp, omega = S.freqresp(omega)
mag = np.squeeze(mag_tmp)
- plot_axes['s'].loglog(omega_plot, 20 * np.log10(mag) if dB else mag)
- plot_axes['s'].set_ylabel("$|S|$")
+ if dB:
+ plot_axes['s'].semilogx(omega_plot, 20 * np.log10(mag), **kwargs)
+ else:
+ plot_axes['s'].loglog(omega_plot, mag, **kwargs)
+ plot_axes['s'].set_ylabel("$|S|$" + " (dB)" if dB else "")
plot_axes['s'].tick_params(labelbottom=False)
plot_axes['s'].grid(grid, which='both')
mag_tmp, phase_tmp, omega = (P * S).freqresp(omega)
mag = np.squeeze(mag_tmp)
- plot_axes['ps'].loglog(omega_plot, 20 * np.log10(mag) if dB else mag)
+ if dB:
+ plot_axes['ps'].semilogx(omega_plot, 20 * np.log10(mag), **kwargs)
+ else:
+ plot_axes['ps'].loglog(omega_plot, mag, **kwargs)
plot_axes['ps'].tick_params(labelbottom=False)
- plot_axes['ps'].set_ylabel("$|PS|$")
+ plot_axes['ps'].set_ylabel("$|PS|$" + " (dB)" if dB else "")
plot_axes['ps'].grid(grid, which='both')
mag_tmp, phase_tmp, omega = (C * S).freqresp(omega)
mag = np.squeeze(mag_tmp)
- plot_axes['cs'].loglog(omega_plot, 20 * np.log10(mag) if dB else mag)
+ if dB:
+ plot_axes['cs'].semilogx(omega_plot, 20 * np.log10(mag), **kwargs)
+ else:
+ plot_axes['cs'].loglog(omega_plot, mag, **kwargs)
plot_axes['cs'].set_xlabel(
"Frequency (Hz)" if Hz else "Frequency (rad/sec)")
- plot_axes['cs'].set_ylabel("$|CS|$")
+ plot_axes['cs'].set_ylabel("$|CS|$" + " (dB)" if dB else "")
plot_axes['cs'].grid(grid, which='both')
mag_tmp, phase_tmp, omega = T.freqresp(omega)
mag = np.squeeze(mag_tmp)
- plot_axes['t'].loglog(omega_plot, 20 * np.log10(mag) if dB else mag)
+ if dB:
+ plot_axes['t'].semilogx(omega_plot, 20 * np.log10(mag), **kwargs)
+ else:
+ plot_axes['t'].loglog(omega_plot, mag, **kwargs)
plot_axes['t'].set_xlabel(
"Frequency (Hz)" if Hz else "Frequency (rad/sec)")
- plot_axes['t'].set_ylabel("$|T|$")
+ plot_axes['t'].set_ylabel("$|T|$" + " (dB)" if dB else "")
plot_axes['t'].grid(grid, which='both')
plt.tight_layout()
+
#
# Utility functions
#
@@ -754,7 +795,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None,
# TODO
raise NotImplementedError(
"type of system in not implemented now")
- except:
+ except NotImplementedError:
pass
# Make sure there is at least one point in the range
@@ -787,15 +828,17 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None,
omega = sp.logspace(lsp_min, lsp_max, endpoint=True)
return omega
+
#
-# KLD 5/23/11: Two functions to create nice looking labels
+# Utility functions to create nice looking labels (KLD 5/23/11)
#
def get_pow1000(num):
"""Determine exponent for which significand of a number is within the
range [1, 1000).
"""
- # Based on algorithm from http://www.mail-archive.com/matplotlib-users@lists.sourceforge.net/msg14433.html, accessed 2010/11/7
+ # Based on algorithm from http://www.mail-archive.com/
+ # matplotlib-users@lists.sourceforge.net/msg14433.html, accessed 2010/11/7
# by Jason Heeris 2009/11/18
from decimal import Decimal
from math import floor
diff --git a/control/grid.py b/control/grid.py
index ed46ff0f7..8aa583bc0 100644
--- a/control/grid.py
+++ b/control/grid.py
@@ -2,19 +2,22 @@
from numpy import cos, sin, sqrt, linspace, pi, exp
import matplotlib.pyplot as plt
from mpl_toolkits.axisartist import SubplotHost
-from mpl_toolkits.axisartist.grid_helper_curvelinear import GridHelperCurveLinear
+from mpl_toolkits.axisartist.grid_helper_curvelinear \
+ import GridHelperCurveLinear
import mpl_toolkits.axisartist.angle_helper as angle_helper
from matplotlib.projections import PolarAxes
from matplotlib.transforms import Affine2D
+
class FormatterDMS(object):
'''Transforms angle ticks to damping ratios'''
- def __call__(self,direction,factor,values):
+ def __call__(self, direction, factor, values):
angles_deg = values/factor
- damping_ratios = np.cos((180-angles_deg)*np.pi/180)
- ret = ["%.2f"%val for val in damping_ratios]
+ damping_ratios = np.cos((180-angles_deg) * np.pi/180)
+ ret = ["%.2f" % val for val in damping_ratios]
return ret
+
class ModifiedExtremeFinderCycle(angle_helper.ExtremeFinderCycle):
'''Changed to allow only left hand-side polar grid'''
def __call__(self, transform_xy, x1, y1, x2, y2):
@@ -25,10 +28,14 @@ def __call__(self, transform_xy, x1, y1, x2, y2):
with np.errstate(invalid='ignore'):
if self.lon_cycle is not None:
lon0 = np.nanmin(lon)
- lon -= 360. * ((lon - lon0) > 360.) # Changed from 180 to 360 to be able to span only 90-270 (left hand side)
+ # Changed from 180 to 360 to be able to span only
+ # 90-270 (left hand side)
+ lon -= 360. * ((lon - lon0) > 360.)
if self.lat_cycle is not None:
lat0 = np.nanmin(lat)
- lat -= 360. * ((lat - lat0) > 360.) # Changed from 180 to 360 to be able to span only 90-270 (left hand side)
+ # Changed from 180 to 360 to be able to span only
+ # 90-270 (left hand side)
+ lat -= 360. * ((lat - lat0) > 360.)
lon_min, lon_max = np.nanmin(lon), np.nanmax(lon)
lat_min, lat_max = np.nanmin(lat), np.nanmax(lat)
@@ -38,6 +45,7 @@ def __call__(self, transform_xy, x1, y1, x2, y2):
return lon_min, lon_max, lat_min, lat_max
+
def sgrid():
# From matplotlib demos:
# https://matplotlib.org/gallery/axisartist/demo_curvelinear_grid.html
@@ -52,21 +60,17 @@ def sgrid():
# 20, 20 : number of sampling points along x, y direction
sampling_points = 20
- extreme_finder = ModifiedExtremeFinderCycle(sampling_points, sampling_points,
- lon_cycle=360,
- lat_cycle=None,
- lon_minmax=(90,270),
- lat_minmax=(0, np.inf),)
+ extreme_finder = ModifiedExtremeFinderCycle(
+ sampling_points, sampling_points, lon_cycle=360, lat_cycle=None,
+ lon_minmax=(90, 270), lat_minmax=(0, np.inf),)
grid_locator1 = angle_helper.LocatorDMS(15)
tick_formatter1 = FormatterDMS()
- grid_helper = GridHelperCurveLinear(tr,
- extreme_finder=extreme_finder,
- grid_locator1=grid_locator1,
- tick_formatter1=tick_formatter1
- )
+ grid_helper = GridHelperCurveLinear(
+ tr, extreme_finder=extreme_finder, grid_locator1=grid_locator1,
+ tick_formatter1=tick_formatter1)
- fig = plt.figure()
+ fig = plt.gcf()
ax = SubplotHost(fig, 1, 1, 1, grid_helper=grid_helper)
# make ticklabels of right invisible, and top axis visible.
@@ -97,24 +101,25 @@ def sgrid():
fig.add_subplot(ax)
- ### RECTANGULAR X Y AXES WITH SCALE
- #par2 = ax.twiny()
- #par2.axis["top"].toggle(all=False)
- #par2.axis["right"].toggle(all=False)
- #new_fixed_axis = par2.get_grid_helper().new_fixed_axis
- #par2.axis["left"] = new_fixed_axis(loc="left",
+ # RECTANGULAR X Y AXES WITH SCALE
+ # par2 = ax.twiny()
+ # par2.axis["top"].toggle(all=False)
+ # par2.axis["right"].toggle(all=False)
+ # new_fixed_axis = par2.get_grid_helper().new_fixed_axis
+ # par2.axis["left"] = new_fixed_axis(loc="left",
# axes=par2,
# offset=(0, 0))
- #par2.axis["bottom"] = new_fixed_axis(loc="bottom",
+ # par2.axis["bottom"] = new_fixed_axis(loc="bottom",
# axes=par2,
# offset=(0, 0))
- ### FINISH RECTANGULAR
+ # FINISH RECTANGULAR
- ax.grid(True, zorder=0,linestyle='dotted')
+ ax.grid(True, zorder=0, linestyle='dotted')
_final_setup(ax)
return ax, fig
+
def _final_setup(ax):
ax.set_xlabel('Real')
ax.set_ylabel('Imaginary')
@@ -122,17 +127,19 @@ def _final_setup(ax):
ax.axvline(x=0, color='black', lw=1)
plt.axis('equal')
+
def nogrid():
- f = plt.figure()
+ f = plt.gcf()
ax = plt.axes()
_final_setup(ax)
return ax, f
+
def zgrid(zetas=None, wns=None):
'''Draws discrete damping and frequency grid'''
- fig = plt.figure()
+ fig = plt.gcf()
ax = fig.gca()
# Constant damping lines
@@ -141,42 +148,43 @@ def zgrid(zetas=None, wns=None):
for zeta in zetas:
# Calculate in polar coordinates
factor = zeta/sqrt(1-zeta**2)
- x = linspace(0, sqrt(1-zeta**2),200)
+ x = linspace(0, sqrt(1-zeta**2), 200)
ang = pi*x
mag = exp(-pi*factor*x)
# Draw upper part in retangular coordinates
xret = mag*cos(ang)
yret = mag*sin(ang)
- ax.plot(xret,yret, 'k:', lw=1)
+ ax.plot(xret, yret, 'k:', lw=1)
# Draw lower part in retangular coordinates
xret = mag*cos(-ang)
yret = mag*sin(-ang)
- ax.plot(xret,yret,'k:', lw=1)
+ ax.plot(xret, yret, 'k:', lw=1)
# Annotation
an_i = int(len(xret)/2.5)
an_x = xret[an_i]
an_y = yret[an_i]
- ax.annotate(str(round(zeta,2)), xy=(an_x, an_y), xytext=(an_x, an_y), size=7)
+ ax.annotate(str(round(zeta, 2)), xy=(an_x, an_y),
+ xytext=(an_x, an_y), size=7)
# Constant natural frequency lines
if wns is None:
wns = linspace(0, 1, 10)
for a in wns:
# Calculate in polar coordinates
- x = linspace(-pi/2,pi/2,200)
+ x = linspace(-pi/2, pi/2, 200)
ang = pi*a*sin(x)
mag = exp(-pi*a*cos(x))
# Draw in retangular coordinates
xret = mag*cos(ang)
yret = mag*sin(ang)
- ax.plot(xret,yret,'k:', lw=1)
+ ax.plot(xret, yret, 'k:', lw=1)
# Annotation
an_i = -1
an_x = xret[an_i]
an_y = yret[an_i]
num = '{:1.1f}'.format(a)
- ax.annotate(r"$\frac{"+num+r"\pi}{T}$", xy=(an_x, an_y), xytext=(an_x, an_y), size=9)
+ ax.annotate(r"$\frac{"+num+r"\pi}{T}$", xy=(an_x, an_y),
+ xytext=(an_x, an_y), size=9)
_final_setup(ax)
return ax, fig
-
diff --git a/control/nichols.py b/control/nichols.py
index 48abffa0a..c8a98ed5e 100644
--- a/control/nichols.py
+++ b/control/nichols.py
@@ -60,7 +60,7 @@
# Default parameters values for the nichols module
_nichols_defaults = {
- 'nichols.grid':True,
+ 'nichols.grid': True,
}
@@ -156,12 +156,13 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
# Default chart magnitudes
# The key set of magnitudes are always generated, since this
# guarantees a recognizable Nichols chart grid.
- key_cl_mags = np.array([-40.0, -20.0, -12.0, -6.0, -3.0, -1.0, -0.5, 0.0,
- 0.25, 0.5, 1.0, 3.0, 6.0, 12.0])
+ key_cl_mags = np.array([-40.0, -20.0, -12.0, -6.0, -3.0, -1.0, -0.5,
+ 0.0, 0.25, 0.5, 1.0, 3.0, 6.0, 12.0])
+
# Extend the range of magnitudes if necessary. The extended arange
- # will end up empty if no extension is required. Assumes that closed-loop
- # magnitudes are approximately aligned with open-loop magnitudes beyond
- # the value of np.min(key_cl_mags)
+ # will end up empty if no extension is required. Assumes that
+ # closed-loop magnitudes are approximately aligned with open-loop
+ # magnitudes beyond the value of np.min(key_cl_mags)
cl_mag_step = -20.0 # dB
extended_cl_mags = np.arange(np.min(key_cl_mags),
ol_mag_min + cl_mag_step, cl_mag_step)
@@ -171,7 +172,8 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
if cl_phases is None:
# Choose a reasonable set of default phases (denser if the open-loop
# data is restricted to a relatively small range of phases).
- key_cl_phases = np.array([-0.25, -45.0, -90.0, -180.0, -270.0, -325.0, -359.75])
+ key_cl_phases = np.array([-0.25, -45.0, -90.0, -180.0, -270.0,
+ -325.0, -359.75])
if np.abs(ol_phase_max - ol_phase_min) < 90.0:
other_cl_phases = np.arange(-10.0, -360.0, -10.0)
else:
@@ -181,7 +183,8 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
assert ((-360.0 < np.min(cl_phases)) and (np.max(cl_phases) < 0.0))
# Find the M-contours
- m = m_circles(cl_mags, phase_min=np.min(cl_phases), phase_max=np.max(cl_phases))
+ m = m_circles(cl_mags, phase_min=np.min(cl_phases),
+ phase_max=np.max(cl_phases))
m_mag = 20*sp.log10(np.abs(m))
m_phase = sp.mod(sp.degrees(sp.angle(m)), -360.0) # Unwrap
@@ -208,9 +211,11 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
linestyle=line_style, zorder=0)
# Add magnitude labels
- for x, y, m in zip(m_phase[:][-1] + phase_offset, m_mag[:][-1], cl_mags):
+ for x, y, m in zip(m_phase[:][-1] + phase_offset, m_mag[:][-1],
+ cl_mags):
align = 'right' if m < 0.0 else 'left'
- plt.text(x, y, str(m) + ' dB', size='small', ha=align, color='gray')
+ plt.text(x, y, str(m) + ' dB', size='small', ha=align,
+ color='gray')
# Fit axes to generated chart
plt.axis([phase_offset_min - 360.0, phase_offset_max - 360.0,
diff --git a/control/pzmap.py b/control/pzmap.py
index a8fb990b5..82960270f 100644
--- a/control/pzmap.py
+++ b/control/pzmap.py
@@ -1,7 +1,7 @@
# pzmap.py - computations involving poles and zeros
#
# Author: Richard M. Murray
-# Date: 7 Sep 09
+# Date: 7 Sep 2009
#
# This file contains functions that compute poles, zeros and related
# quantities for a linear system.
@@ -38,7 +38,6 @@
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
-# $Id:pzmap.py 819 2009-05-29 21:28:07Z murray $
from numpy import real, imag, linspace, exp, cos, sin, sqrt
from math import pi
@@ -51,15 +50,15 @@
# Define default parameter values for this module
_pzmap_defaults = {
- 'pzmap.grid':False, # Plot omega-damping grid
- 'pzmap.Plot':True, # Generate plot using Matplotlib
+ 'pzmap.grid': False, # Plot omega-damping grid
+ 'pzmap.plot': True, # Generate plot using Matplotlib
}
# TODO: Implement more elegant cross-style axes. See:
# http://matplotlib.sourceforge.net/examples/axes_grid/demo_axisline_style.html
# http://matplotlib.sourceforge.net/examples/axes_grid/demo_curvelinear_grid.html
-def pzmap(sys, Plot=True, grid=False, title='Pole Zero Map'):
+def pzmap(sys, plot=True, grid=False, title='Pole Zero Map', **kwargs):
"""
Plot a pole/zero map for a linear system.
@@ -67,7 +66,7 @@ def pzmap(sys, Plot=True, grid=False, title='Pole Zero Map'):
----------
sys: LTI (StateSpace or TransferFunction)
Linear system for which poles and zeros are computed.
- Plot: bool
+ plot: bool
If ``True`` a graph is generated with Matplotlib,
otherwise the poles and zeros are only computed and returned.
grid: boolean (default = False)
@@ -80,17 +79,24 @@ def pzmap(sys, Plot=True, grid=False, title='Pole Zero Map'):
zeros: array
The system's zeros.
"""
+ # Check to see if legacy 'Plot' keyword was used
+ if 'Plot' in kwargs:
+ import warnings
+ warnings.warn("'Plot' keyword is deprecated in pzmap; use 'plot'",
+ FutureWarning)
+ plot = kwargs['Plot']
+
# Get parameter values
- Plot = config._get_param('rlocus', 'Plot', Plot, True)
+ plot = config._get_param('rlocus', 'plot', plot, True)
grid = config._get_param('rlocus', 'grid', grid, False)
-
+
if not isinstance(sys, LTI):
raise TypeError('Argument ``sys``: must be a linear system.')
poles = sys.pole()
zeros = sys.zero()
- if (Plot):
+ if (plot):
import matplotlib.pyplot as plt
if grid:
@@ -103,11 +109,11 @@ def pzmap(sys, Plot=True, grid=False, title='Pole Zero Map'):
# Plot the locations of the poles and zeros
if len(poles) > 0:
- ax.scatter(real(poles), imag(poles), s=50, marker='x', facecolors='k')
+ ax.scatter(real(poles), imag(poles), s=50, marker='x',
+ facecolors='k')
if len(zeros) > 0:
ax.scatter(real(zeros), imag(zeros), s=50, marker='o',
- facecolors='none', edgecolors='k')
-
+ facecolors='none', edgecolors='k')
plt.title(title)
diff --git a/control/rlocus.py b/control/rlocus.py
index 0c115c26e..955c5c56d 100644
--- a/control/rlocus.py
+++ b/control/rlocus.py
@@ -62,16 +62,16 @@
# Default values for module parameters
_rlocus_defaults = {
- 'rlocus.grid':True,
- 'rlocus.plotstr':'b' if int(matplotlib.__version__[0]) == 1 else 'C0',
- 'rlocus.PrintGain':True,
- 'rlocus.Plot':True
+ 'rlocus.grid': True,
+ 'rlocus.plotstr': 'b' if int(matplotlib.__version__[0]) == 1 else 'C0',
+ 'rlocus.print_gain': True,
+ 'rlocus.plot': True
}
# Main function: compute a root locus diagram
def root_locus(sys, kvect=None, xlim=None, ylim=None,
- plotstr=None, Plot=True, PrintGain=None, grid=None, **kwargs):
+ plotstr=None, plot=True, print_gain=None, grid=None, **kwargs):
"""Root locus plot
@@ -89,9 +89,9 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
Set limits of x axis, normally with tuple (see matplotlib.axes).
ylim : tuple or list, optional
Set limits of y axis, normally with tuple (see matplotlib.axes).
- Plot : boolean, optional
+ plot : boolean, optional
If True (default), plot root locus diagram.
- PrintGain : bool
+ print_gain : bool
If True (default), report mouse clicks when close to the root locus
branches, calculate gain, damping and print.
grid : bool
@@ -104,11 +104,27 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
klist : ndarray or list
Gains used. Same as klist keyword argument if provided.
"""
+ # Check to see if legacy 'Plot' keyword was used
+ if 'Plot' in kwargs:
+ import warnings
+ warnings.warn("'Plot' keyword is deprecated in root_locus; "
+ "use 'plot'", FutureWarning)
+ # Map 'Plot' keyword to 'plot' keyword
+ plot = kwargs.pop('Plot')
+
+ # Check to see if legacy 'PrintGain' keyword was used
+ if 'PrintGain' in kwargs:
+ import warnings
+ warnings.warn("'PrintGain' keyword is deprecated in root_locus; "
+ "use 'print_gain'", FutureWarning)
+ # Map 'PrintGain' keyword to 'print_gain' keyword
+ print_gain = kwargs.pop('PrintGain')
+
# Get parameter values
plotstr = config._get_param('rlocus', 'plotstr', plotstr, _rlocus_defaults)
grid = config._get_param('rlocus', 'grid', grid, _rlocus_defaults)
- PrintGain = config._get_param(
- 'rlocus', 'PrintGain', PrintGain, _rlocus_defaults)
+ print_gain = config._get_param(
+ 'rlocus', 'print_gain', print_gain, _rlocus_defaults)
# Convert numerator and denominator to polynomials if they aren't
(nump, denp) = _systopoly1d(sys)
@@ -125,7 +141,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
sisotool = False if 'sisotool' not in kwargs else True
# Create the Plot
- if Plot:
+ if plot:
if sisotool:
f = kwargs['fig']
ax = f.axes[1]
@@ -143,7 +159,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
f = pylab.figure(new_figure_name)
ax = pylab.axes()
- if PrintGain and not sisotool:
+ if print_gain and not sisotool:
f.canvas.mpl_connect(
'button_release_event',
partial(_RLClickDispatcher, sys=sys, fig=f,
diff --git a/control/statesp.py b/control/statesp.py
index 85d48882a..1779dfbfd 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -70,7 +70,7 @@
# Define module default parameter values
_statesp_defaults = {
- 'statesp.use_numpy_matrix':True,
+ 'statesp.use_numpy_matrix': True,
}
diff --git a/control/tests/config_test.py b/control/tests/config_test.py
index c0fc9755b..7b70fdc00 100644
--- a/control/tests/config_test.py
+++ b/control/tests/config_test.py
@@ -107,8 +107,8 @@ def test_matlab_bode(self):
mag_data = mag_line[0].get_data()
mag_x, mag_y = mag_data
- # Make sure the x-axis is in Hertz and y-axis is in dB
- np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
+ # Make sure the x-axis is in rad/sec and y-axis is in dB
+ np.testing.assert_almost_equal(mag_x[0], 0.001, decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
# Get the phase line
@@ -117,8 +117,8 @@ def test_matlab_bode(self):
phase_data = phase_line[0].get_data()
phase_x, phase_y = phase_data
- # Make sure the x-axis is in Hertz and y-axis is in degrees
- np.testing.assert_almost_equal(phase_x[-1], 1000 / (2*pi), decimal=1)
+ # Make sure the x-axis is in rad/sec and y-axis is in degrees
+ np.testing.assert_almost_equal(phase_x[-1], 1000, decimal=1)
np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
# Override the defaults and make sure that works as well
diff --git a/control/tests/convert_test.py b/control/tests/convert_test.py
index 0340fa718..17766b186 100644
--- a/control/tests/convert_test.py
+++ b/control/tests/convert_test.py
@@ -108,7 +108,7 @@ def testConvert(self):
ssorig_mag, ssorig_phase, ssorig_omega = \
bode(_mimo2siso(ssOriginal, \
inputNum, outputNum), \
- deg=False, Plot=False)
+ deg=False, plot=False)
ssorig_real = ssorig_mag * np.cos(ssorig_phase)
ssorig_imag = ssorig_mag * np.sin(ssorig_phase)
@@ -121,7 +121,7 @@ def testConvert(self):
tforig_mag, tforig_phase, tforig_omega = \
bode(tforig, ssorig_omega, \
- deg=False, Plot=False)
+ deg=False, plot=False)
tforig_real = tforig_mag * np.cos(tforig_phase)
tforig_imag = tforig_mag * np.sin(tforig_phase)
@@ -137,7 +137,7 @@ def testConvert(self):
bode(_mimo2siso(ssTransformed, \
inputNum, outputNum), \
ssorig_omega, \
- deg=False, Plot=False)
+ deg=False, plot=False)
ssxfrm_real = ssxfrm_mag * np.cos(ssxfrm_phase)
ssxfrm_imag = ssxfrm_mag * np.sin(ssxfrm_phase)
np.testing.assert_array_almost_equal( \
@@ -152,7 +152,7 @@ def testConvert(self):
tfxfrm = tf(num, den)
tfxfrm_mag, tfxfrm_phase, tfxfrm_omega = \
bode(tfxfrm, ssorig_omega, \
- deg=False, Plot=False)
+ deg=False, plot=False)
tfxfrm_real = tfxfrm_mag * np.cos(tfxfrm_phase)
tfxfrm_imag = tfxfrm_mag * np.sin(tfxfrm_phase)
diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
index 0e7060bea..fdbad744e 100644
--- a/control/tests/matlab_test.py
+++ b/control/tests/matlab_test.py
@@ -132,7 +132,7 @@ def testPZmap(self):
# pzmap(self.siso_ss2); not implemented
pzmap(self.siso_tf1);
pzmap(self.siso_tf2);
- pzmap(self.siso_tf2, Plot=False);
+ pzmap(self.siso_tf2, plot=False);
def testStep(self):
t = np.linspace(0, 1, 10)
@@ -326,7 +326,7 @@ def testBode(self):
bode(self.siso_ss1)
bode(self.siso_tf1)
bode(self.siso_tf2)
- (mag, phase, freq) = bode(self.siso_tf2, Plot=False)
+ (mag, phase, freq) = bode(self.siso_tf2, plot=False)
bode(self.siso_tf1, self.siso_tf2)
w = logspace(-3, 3);
bode(self.siso_ss1, w)
@@ -339,7 +339,7 @@ def testRlocus(self):
rlocus(self.siso_tf1)
rlocus(self.siso_tf2)
klist = [1, 10, 100]
- rlist, klist_out = rlocus(self.siso_tf2, klist, Plot=False)
+ rlist, klist_out = rlocus(self.siso_tf2, klist, plot=False)
np.testing.assert_equal(len(rlist), len(klist))
np.testing.assert_array_equal(klist, klist_out)
@@ -349,7 +349,7 @@ def testNyquist(self):
nyquist(self.siso_tf2)
w = logspace(-3, 3);
nyquist(self.siso_tf2, w)
- (real, imag, freq) = nyquist(self.siso_tf2, w, Plot=False)
+ (real, imag, freq) = nyquist(self.siso_tf2, w, plot=False)
def testNichols(self):
nichols(self.siso_ss1)
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
index 464f04066..4b2112ea3 100644
--- a/control/tests/rlocus_test.py
+++ b/control/tests/rlocus_test.py
@@ -35,14 +35,14 @@ def testRootLocus(self):
"""Basic root locus plot"""
klist = [-1, 0, 1]
for sys in self.systems:
- roots, k_out = root_locus(sys, klist, Plot=False)
+ roots, k_out = root_locus(sys, klist, plot=False)
np.testing.assert_equal(len(roots), len(klist))
np.testing.assert_array_equal(klist, k_out)
self.check_cl_poles(sys, roots, klist)
def test_without_gains(self):
for sys in self.systems:
- roots, kvect = root_locus(sys, Plot=False)
+ roots, kvect = root_locus(sys, plot=False)
self.check_cl_poles(sys, roots, kvect)
def test_root_locus_zoom(self):
diff --git a/control/tests/slycot_convert_test.py b/control/tests/slycot_convert_test.py
index eab178954..1c121b1f6 100644
--- a/control/tests/slycot_convert_test.py
+++ b/control/tests/slycot_convert_test.py
@@ -154,19 +154,19 @@ def testFreqResp(self):
for inputNum in range(inputs):
for outputNum in range(outputs):
[ssOriginalMag, ssOriginalPhase, freq] =\
- matlab.bode(ssOriginal, Plot=False)
+ matlab.bode(ssOriginal, plot=False)
[tfOriginalMag, tfOriginalPhase, freq] =\
matlab.bode(matlab.tf(
numOriginal[outputNum][inputNum],
- denOriginal[outputNum]), Plot=False)
+ denOriginal[outputNum]), plot=False)
[ssTransformedMag, ssTransformedPhase, freq] =\
matlab.bode(ssTransformed,
- freq, Plot=False)
+ freq, plot=False)
[tfTransformedMag, tfTransformedPhase, freq] =\
matlab.bode(matlab.tf(
numTransformed[outputNum][inputNum],
denTransformed[outputNum]),
- freq, Plot=False)
+ freq, plot=False)
# print('numOrig=',
# numOriginal[outputNum][inputNum])
# print('denOrig=',
diff --git a/examples/pvtol-nested.py b/examples/pvtol-nested.py
index 56685599b..7efce9ccd 100644
--- a/examples/pvtol-nested.py
+++ b/examples/pvtol-nested.py
@@ -26,10 +26,6 @@
Pi = tf([r], [J, 0, 0]) # inner loop (roll)
Po = tf([1], [m, c, 0]) # outer loop (position)
-# Use state space versions
-Pi = tf2ss(Pi)
-Po = tf2ss(Po)
-
#
# Inner loop control design
#
@@ -170,7 +166,7 @@
plt.figure(10)
plt.clf()
-P, Z = pzmap(T, Plot=True)
+P, Z = pzmap(T, plot=True, grid=True)
print("Closed loop poles and zeros: ", P, Z)
# Gang of Four
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