diff --git a/control/rlocus.py b/control/rlocus.py
index 4f83c019b..ee30fe489 100644
--- a/control/rlocus.py
+++ b/control/rlocus.py
@@ -137,7 +137,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
print_gain = config._get_param(
'rlocus', 'print_gain', print_gain, _rlocus_defaults)
- sys_loop = sys if sys.issiso() else sys[0,0]
+ sys_loop = sys if sys.issiso() else sys[0, 0]
# Convert numerator and denominator to polynomials if they aren't
(nump, denp) = _systopoly1d(sys_loop)
@@ -232,16 +232,11 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
ax.set_ylim(ylim)
# Draw the grid
- if grid and sisotool:
- if isdtime(sys, strict=True):
- zgrid(ax=ax)
- else:
- _sgrid_func(fig=fig)
- elif grid:
+ if grid:
if isdtime(sys, strict=True):
zgrid(ax=ax)
else:
- _sgrid_func()
+ _sgrid_func(fig=fig if sisotool else None)
else:
ax.axhline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
ax.axvline(0., linestyle=':', color='k', linewidth=.75, zorder=-20)
diff --git a/control/setup.py b/control/setup.py
deleted file mode 100644
index 3ed3e3a7e..000000000
--- a/control/setup.py
+++ /dev/null
@@ -1,5 +0,0 @@
-def configuration(parent_package='', top_path=None):
- from numpy.distutils.misc_util import Configuration
- config = Configuration('control', parent_package, top_path)
- config.add_subpackage('tests')
- return config
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
index f7aff9ebe..ef9bd7ecb 100644
--- a/control/tests/rlocus_test.py
+++ b/control/tests/rlocus_test.py
@@ -15,16 +15,25 @@
from control.bdalg import feedback
+@pytest.mark.usefixtures("mplcleanup")
class TestRootLocus:
"""These are tests for the feedback function in rlocus.py."""
- @pytest.fixture(params=[(TransferFunction, ([1, 2], [1, 2, 3])),
- (StateSpace, ([[1., 4.], [3., 2.]],
- [[1.], [-4.]],
- [[1., 0.]], [[0.]]))],
- ids=["tf", "ss"])
+ @pytest.fixture(params=[pytest.param((sysclass, sargs + (dt, )),
+ id=f"{systypename}-{dtstring}")
+ for sysclass, systypename, sargs in [
+ (TransferFunction, 'TF', ([1, 2],
+ [1, 2, 3])),
+ (StateSpace, 'SS', ([[1., 4.], [3., 2.]],
+ [[1.], [-4.]],
+ [[1., 0.]],
+ [[0.]])),
+ ]
+ for dt, dtstring in [(0, 'ctime'),
+ (True, 'dtime')]
+ ])
def sys(self, request):
- """Return some simple LTI system for testing"""
+ """Return some simple LTI systems for testing"""
# avoid construction during collection time: prevent unfiltered
# deprecation warning
sysfn, args = request.param
@@ -37,7 +46,7 @@ def check_cl_poles(self, sys, pole_list, k_list):
np.testing.assert_array_almost_equal(poles, poles_expected)
def testRootLocus(self, sys):
- """Basic root locus plot"""
+ """Basic root locus (no plot)"""
klist = [-1, 0, 1]
roots, k_out = root_locus(sys, klist, plot=False)
@@ -49,6 +58,33 @@ def test_without_gains(self, sys):
roots, kvect = root_locus(sys, plot=False)
self.check_cl_poles(sys, roots, kvect)
+ @pytest.mark.parametrize('grid', [None, True, False])
+ def test_root_locus_plot_grid(self, sys, grid):
+ rlist, klist = root_locus(sys, grid=grid)
+ ax = plt.gca()
+ n_gridlines = sum([int(line.get_linestyle() in [':', 'dotted',
+ '--', 'dashed'])
+ for line in ax.lines])
+ if grid is False:
+ assert n_gridlines == 2
+ else:
+ assert n_gridlines > 2
+ # TODO check validity of grid
+
+ def test_root_locus_warnings(self):
+ sys = TransferFunction([1000], [1, 25, 100, 0])
+ with pytest.warns(FutureWarning, match="Plot.*deprecated"):
+ rlist, klist = root_locus(sys, Plot=True)
+ with pytest.warns(FutureWarning, match="PrintGain.*deprecated"):
+ rlist, klist = root_locus(sys, PrintGain=True)
+
+ def test_root_locus_neg_false_gain_nonproper(self):
+ """ Non proper TranferFunction with negative gain: Not implemented"""
+ with pytest.raises(ValueError, match="with equal order"):
+ root_locus(TransferFunction([-1, 2], [1, 2]))
+
+ # TODO: cover and validate negative false_gain branch in _default_gains()
+
def test_root_locus_zoom(self):
"""Check the zooming functionality of the Root locus plot"""
system = TransferFunction([1000], [1, 25, 100, 0])
@@ -96,4 +132,3 @@ def test_rlocus_default_wn(self):
[-1e-2, 1-1e7j, 1+1e7j], [0, -1e7j, 1e7j], 1))
ct.root_locus(sys)
-
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
index 14e9692c1..ab5d546dd 100644
--- a/control/tests/sisotool_test.py
+++ b/control/tests/sisotool_test.py
@@ -17,14 +17,10 @@ class TestSisotool:
"""These are tests for the sisotool in sisotool.py."""
@pytest.fixture
- def sys(self):
+ def tsys(self, request):
"""Return a generic SISO transfer function"""
- return TransferFunction([1000], [1, 25, 100, 0])
-
- @pytest.fixture
- def sysdt(self):
- """Return a generic SISO transfer function"""
- return TransferFunction([1000], [1, 25, 100, 0], True)
+ dt = getattr(request, 'param', 0)
+ return TransferFunction([1000], [1, 25, 100, 0], dt)
@pytest.fixture
def sys222(self):
@@ -50,8 +46,8 @@ def sys221(self):
D221 = [[1., -1.]]
return StateSpace(A222, B222, C221, D221)
- def test_sisotool(self, sys):
- sisotool(sys, Hz=False)
+ def test_sisotool(self, tsys):
+ sisotool(tsys, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
@@ -89,7 +85,7 @@ def test_sisotool(self, sys):
event = type('test', (object,), {'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes})()
- _RLClickDispatcher(event=event, sys=sys, fig=fig,
+ _RLClickDispatcher(event=event, sys=tsys, fig=fig,
ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
bode_plot_params=bode_plot_params, tvect=None)
@@ -118,10 +114,12 @@ def test_sisotool(self, sys):
assert_array_almost_equal(
ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
- def test_sisotool_tvect(self, sys):
+ @pytest.mark.parametrize('tsys', [0, True],
+ indirect=True, ids=['ctime', 'dtime'])
+ def test_sisotool_tvect(self, tsys):
# test supply tvect
tvect = np.linspace(0, 1, 10)
- sisotool(sys, tvect=tvect)
+ sisotool(tsys, tvect=tvect)
fig = plt.gcf()
ax_rlocus, ax_step = fig.axes[1], fig.axes[3]
@@ -129,26 +127,11 @@ def test_sisotool_tvect(self, sys):
event = type('test', (object,), {'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes})()
- _RLClickDispatcher(event=event, sys=sys, fig=fig,
+ _RLClickDispatcher(event=event, sys=tsys, fig=fig,
ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
bode_plot_params=dict(), tvect=tvect)
assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])
- def test_sisotool_tvect_dt(self, sysdt):
- # test supply tvect
- tvect = np.linspace(0, 1, 10)
- sisotool(sysdt, tvect=tvect)
- fig = plt.gcf()
- ax_rlocus, ax_step = fig.axes[1], fig.axes[3]
-
- # Move the rootlocus to another point and confirm same tvect
- event = type('test', (object,), {'xdata': 2.31206868287,
- 'ydata': 15.5983051046,
- 'inaxes': ax_rlocus.axes})()
- _RLClickDispatcher(event=event, sys=sysdt, fig=fig,
- ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',
- bode_plot_params=dict(), tvect=tvect)
- assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])
def test_sisotool_mimo(self, sys222, sys221):
# a 2x2 should not raise an error:
diff --git a/setup.cfg b/setup.cfg
index c72ef19a8..5b1ce28a7 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -5,4 +5,3 @@ universal=1
addopts = -ra
filterwarnings =
error:.*matrix subclass:PendingDeprecationWarning
-
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