diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
index c626b8add..6df2493cb 100644
--- a/control/tests/sisotool_test.py
+++ b/control/tests/sisotool_test.py
@@ -67,12 +67,9 @@ def test_sisotool(self, sys):
initial_point_2, 4)
# Check the step response before moving the point
- # new array needed because change in compute step response default time
step_response_original = np.array(
- [0. , 0.0069, 0.0448, 0.124 , 0.2427, 0.3933, 0.5653, 0.7473,
- 0.928 , 1.0969])
- #old: np.array([0., 0.0217, 0.1281, 0.3237, 0.5797, 0.8566, 1.116,
- # 1.3261, 1.4659, 1.526])
+ [0. , 0.021 , 0.124 , 0.3146, 0.5653, 0.8385, 1.0969, 1.3095,
+ 1.4549, 1.5231])
assert_array_almost_equal(
ax_step.lines[0].get_data()[1][:10], step_response_original, 4)
@@ -115,10 +112,9 @@ def test_sisotool(self, sys):
bode_mag_moved, 4)
# Check if the step response has changed
- # new array needed because change in compute step response default time
step_response_moved = np.array(
- [0., 0.0072, 0.0516, 0.1554, 0.3281, 0.5681, 0.8646, 1.1987,
- 1.5452, 1.875])
+ [0. , 0.023 , 0.1554, 0.4401, 0.8646, 1.3722, 1.875 , 2.2709,
+ 2.4633, 2.3827])
assert_array_almost_equal(
ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index 751cd35b0..37fcff763 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -310,6 +310,10 @@ def test_step_pole_cancellation(self, pole_cancellation,
step_info_no_cancellation = step_info(no_pole_cancellation)
step_info_cancellation = step_info(pole_cancellation)
for key in step_info_no_cancellation:
+ if key == 'Overshoot':
+ # skip this test because these systems have no overshoot
+ # => very sensitive to parameters
+ continue
np.testing.assert_allclose(step_info_no_cancellation[key],
step_info_cancellation[key], rtol=1e-4)
@@ -522,7 +526,7 @@ def test_step_robustness(self):
@pytest.mark.parametrize(
"tfsys, tfinal",
- [(TransferFunction(1, [1, .5]), 9.21034), # pole at 0.5
+ [(TransferFunction(1, [1, .5]), 13.81551), # pole at 0.5
(TransferFunction(1, [1, .5]).sample(.1), 25), # discrete pole at 0.5
(TransferFunction(1, [1, .5, 0]), 25)]) # poles at 0.5 and 0
def test_auto_generated_time_vector_tfinal(self, tfsys, tfinal):
diff --git a/control/timeresp.py b/control/timeresp.py
index 9ccf24bf3..3df225de9 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -792,7 +792,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
T, yout = step_response(sys, T)
# Steady state value
- InfValue = yout[-1]
+ InfValue = sys.dcgain()
# RiseTime
tr_lower_index = (np.where(yout >= RiseTimeLimits[0] * InfValue)[0])[0]
@@ -814,7 +814,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
'SettlingTime': SettlingTime,
'SettlingMin': yout[tr_upper_index:].min(),
'SettlingMax': yout.max(),
- 'Overshoot': 100. * (yout.max() - InfValue) / (InfValue - yout[0]),
+ 'Overshoot': 100. * (yout.max() - InfValue) / InfValue,
'Undershoot': yout.min(), # not very confident about this
'Peak': yout[PeakIndex],
'PeakTime': T[PeakIndex],
@@ -1124,7 +1124,7 @@ def _ideal_tfinal_and_dt(sys, is_step=True):
default_dt = 0.1
total_cycles = 5 # number of cycles for oscillating modes
pts_per_cycle = 25 # Number of points divide a period of oscillation
- log_decay_percent = np.log(100) # Factor of reduction for real pole decays
+ log_decay_percent = np.log(1000) # Factor of reduction for real pole decays
if sys._isstatic():
tfinal = default_tfinal
pFad - Phonifier reborn
Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.
Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.
Alternative Proxies:
Alternative Proxy
pFad Proxy
pFad v3 Proxy
pFad v4 Proxy