def test_root_locus_zoom(self):
"""Check the zooming functionality of the Root locus plot"""
system = TransferFunction([1000], [1, 25, 100, 0])
plt.figure()
root_locus(system)
fig = plt.gcf()
ax_rlocus = fig.axes[0]
event = type(
'test', (object, ), {
'xdata': 14.7607954359,
'ydata': -35.6171379864,
'inaxes': ax_rlocus.axes
})()
ax_rlocus.set_xlim((-10.813628105112421, 14.760795435937652))
ax_rlocus.set_ylim((-35.61713798641108, 33.879716621220311))
plt.get_current_fig_manager().toolbar.mode = 'zoom rect'
_RLClickDispatcher(event, system, fig, ax_rlocus, '-')
zoom_x = ax_rlocus.lines[-2].get_data()[0][0:5]
zoom_y = ax_rlocus.lines[-2].get_data()[1][0:5]
zoom_y = [abs(y) for y in zoom_y]
zoom_x_valid = [
-5., -4.61281263, -4.16689986, -4.04122642, -3.90736502
]
zoom_y_valid = [0., 0., 0., 0., 0.]
assert_array_almost_equal(zoom_x, zoom_x_valid)
assert_array_almost_equal(zoom_y, zoom_y_valid)
def rlocus(sys, klist = None, **keywords):
"""Root locus plot
The root-locus plot has a callback function that prints pole location,
gain and damping to the Python consol on mouseclicks on the root-locus
graph.
Parameters
----------
sys: StateSpace or TransferFunction
Linear system
klist:
optional list of gains
Returns
-------
rlist:
list of roots for each gain
klist:
list of gains used to compute roots
"""
from control.rlocus import root_locus
#! TODO: update with a smart calculation of the gains using sys poles/zeros
if klist == None:
klist = logspace(-3, 3)
rlist = root_locus(sys, klist, **keywords)
return rlist, klist
def rlocus(sys, klist = None, **keywords):
"""Root locus plot
The root-locus plot has a callback function that prints pole location,
gain and damping to the Python consol on mouseclicks on the root-locus
graph.
Parameters
----------
sys: StateSpace or TransferFunction
Linear system
klist:
optional list of gains
Returns
-------
rlist:
list of roots for each gain
klist:
list of gains used to compute roots
"""
from control.rlocus import root_locus
#! TODO: update with a smart calculation of the gains using sys poles/zeros
if klist == None:
klist = logspace(-3, 3)
rlist = root_locus(sys, klist, **keywords)
return rlist, klist
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)
np.testing.assert_equal(len(roots), len(klist))
np.testing.assert_array_equal(klist, k_out)
self.check_cl_poles(sys, roots, klist)
def testRootLocus(self, sys):
"""Basic root locus (no plot)"""
klist = [-1, 0, 1]
roots, k_out = root_locus(sys, klist, plot=False)
np.testing.assert_equal(len(roots), len(klist))
np.testing.assert_allclose(klist, k_out)
self.check_cl_poles(sys, roots, klist)
def testRootLocus(self):
"""Basic root locus plot"""
klist = [-1, 0, 1]
rlist = root_locus(self.sys1, [-1, 0, 1], Plot=False)
for k in klist:
np.testing.assert_array_almost_equal(
np.sort(rlist[k]),
np.sort(feedback(self.sys1, klist[k]).pole()))
def testRootLocus(self):
"""Basic root locus plot"""
klist = [-1, 0, 1]
rlist = root_locus(self.sys1, [-1, 0, 1], Plot=False)
for k in klist:
np.testing.assert_array_almost_equal(
np.sort(rlist[k]),
np.sort(feedback(self.sys1, klist[k]).pole()))
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
def test_root_locus_zoom(self):
"""Check the zooming functionality of the Root locus plot"""
system = TransferFunction([1000], [1, 25, 100, 0])
root_locus(system)
fig = plt.gcf()
ax_rlocus = fig.axes[0]
event = type('test', (object,), {'xdata': 14.7607954359, 'ydata': -35.6171379864, 'inaxes': ax_rlocus.axes})()
ax_rlocus.set_xlim((-10.813628105112421, 14.760795435937652))
ax_rlocus.set_ylim((-35.61713798641108, 33.879716621220311))
plt.get_current_fig_manager().toolbar.mode = 'zoom rect'
_RLClickDispatcher(event, system, fig, ax_rlocus, '-')
zoom_x = ax_rlocus.lines[-2].get_data()[0][0:5]
zoom_y = ax_rlocus.lines[-2].get_data()[1][0:5]
zoom_y = [abs(y) for y in zoom_y]
zoom_x_valid = [-5. ,- 4.61281263, - 4.16689986, - 4.04122642, - 3.90736502]
zoom_y_valid = [0. ,0., 0., 0., 0.]
assert_array_almost_equal(zoom_x,zoom_x_valid)
assert_array_almost_equal(zoom_y,zoom_y_valid)
def rlocus(sys, klist = None, **keywords):
"""Root locus plot
Parameters
----------
sys: StateSpace or TransferFunction
Linear system
klist:
optional list of gains
Returns
-------
rlist:
list of roots for each gain
klist:
list of gains used to compute roots
"""
from control.rlocus import root_locus
#! TODO: update with a smart calculation of the gains using sys poles/zeros
if klist == None:
klist = logspace(-3, 3)
rlist = root_locus(sys, klist, **keywords)
return rlist, klist
def test_without_gains(self):
for sys in self.systems:
roots, kvect = root_locus(sys, Plot=False)
self.check_cl_poles(sys, roots, kvect)
def test_without_gains(self, sys):
roots, kvect = root_locus(sys, plot=False)
self.check_cl_poles(sys, roots, kvect)
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]))
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)
