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 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(self):
sisotool(self.system,Hz=False)
fig = plt.gcf()
ax_mag,ax_rlocus,ax_phase,ax_step = fig.axes[0],fig.axes[1],fig.axes[2],fig.axes[3]
# Check the initial root locus plot points
initial_point_0 = (np.array([-22.53155977]),np.array([0.]))
initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
initial_point_2 = (np.array([-1.23422011]), np.array([06.54667031]))
assert_array_almost_equal(ax_rlocus.lines[0].get_data(),initial_point_0)
assert_array_almost_equal(ax_rlocus.lines[1].get_data(),initial_point_1)
assert_array_almost_equal(ax_rlocus.lines[2].get_data(),initial_point_2)
# Check the step response before moving the point
step_response_original = np.array([ 0., 0.02233651, 0.13118374, 0.33078542, 0.5907113, 0.87041549, 1.13038536, 1.33851053, 1.47374666, 1.52757114])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],step_response_original)
bode_plot_params = {
'omega': None,
'dB': False,
'Hz': False,
'deg': True,
'omega_limits': None,
'omega_num': None,
'sisotool': True,
'fig': fig,
'margins': True
}
# Move the rootlocus to another point
event = type('test', (object,), {'xdata': 2.31206868287,'ydata':15.5983051046, 'inaxes':ax_rlocus.axes})()
_RLClickDispatcher(event=event, sys=self.system, fig=fig,ax_rlocus=ax_rlocus,sisotool=True, plotstr='-' ,bode_plot_params=bode_plot_params, tvect=None)
# Check the moved root locus plot points
moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),moved_point_0)
assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),moved_point_1)
assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),moved_point_2)
# Check if the bode_mag line has moved
bode_mag_moved = np.array([ 111.83321224, 92.29238035, 76.02822315, 62.46884113, 51.14108703, 41.6554004, 33.69409534, 27.00237344, 21.38086717, 16.67791585])
assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],bode_mag_moved)
# Check if the step response has changed
step_response_moved = np.array([[ 0., 0.02458187, 0.16529784 , 0.46602716 , 0.91012035 , 1.43364313, 1.93996334 , 2.3190105 , 2.47041552 , 2.32724853] ])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],step_response_moved)
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 test_sisotool(self, sys):
sisotool(sys, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
# Check the initial root locus plot points
initial_point_0 = (np.array([-22.53155977]), np.array([0.]))
initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
initial_point_2 = (np.array([-1.23422011]), np.array([06.54667031]))
assert_array_almost_equal(ax_rlocus.lines[0].get_data(),
initial_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[1].get_data(),
initial_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[2].get_data(),
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])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_original, 4)
bode_plot_params = {
'omega': None,
'dB': False,
'Hz': False,
'deg': True,
'omega_limits': None,
'omega_num': None,
'sisotool': True,
'fig': fig,
'margins': True
}
# Move the rootlocus to another point
event = type(
'test', (object, ), {
'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes
})()
_RLClickDispatcher(event=event,
sys=sys,
fig=fig,
ax_rlocus=ax_rlocus,
sisotool=True,
plotstr='-',
bode_plot_params=bode_plot_params,
tvect=None)
# Check the moved root locus plot points
moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),
moved_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),
moved_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),
moved_point_2, 4)
# Check if the bode_mag line has moved
bode_mag_moved = np.array([
674.0242, 667.8354, 661.7033, 655.6275, 649.6074, 643.6426,
637.7324, 631.8765, 626.0742, 620.3252
])
assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],
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
])
# old: array([0., 0.0239, 0.161 , 0.4547, 0.8903, 1.407,
# 1.9121, 2.2989, 2.4686, 2.353])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_moved, 4)
def test_sisotool(self, tsys):
sisotool(tsys, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
# Check the initial root locus plot points
initial_point_0 = (np.array([-22.53155977]), np.array([0.]))
initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
initial_point_2 = (np.array([-1.23422011]), np.array([6.54667031]))
assert_array_almost_equal(ax_rlocus.lines[0].get_data(),
initial_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[1].get_data(),
initial_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[2].get_data(),
initial_point_2, 4)
# Check the step response before moving the point
step_response_original = np.array([
0., 0.0216, 0.1271, 0.3215, 0.5762, 0.8522, 1.1114, 1.3221, 1.4633,
1.5254
])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_original, 4)
bode_plot_params = {
'omega': None,
'dB': False,
'Hz': False,
'deg': True,
'omega_limits': None,
'omega_num': None,
'sisotool': True,
'fig': fig,
'margins': True
}
# Move the rootlocus to another point
event = type(
'test', (object, ), {
'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes
})()
_RLClickDispatcher(event=event,
sys=tsys,
fig=fig,
ax_rlocus=ax_rlocus,
sisotool=True,
plotstr='-',
bode_plot_params=bode_plot_params,
tvect=None)
# Check the moved root locus plot points
moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),
moved_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),
moved_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),
moved_point_2, 4)
# Check if the bode_mag line has moved
bode_mag_moved = np.array([
674.0242, 667.8354, 661.7033, 655.6275, 649.6074, 643.6426,
637.7324, 631.8765, 626.0742, 620.3252
])
assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],
bode_mag_moved, 4)
# Check if the step response has changed
step_response_moved = np.array([
0., 0.0237, 0.1596, 0.4511, 0.884, 1.3985, 1.9031, 2.2922, 2.4676,
2.3606
])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_moved, 4)
def test_sisotool(self):
sisotool(self.system, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]
# Check the initial root locus plot points
initial_point_0 = (np.array([-22.53155977]), np.array([0.]))
initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
initial_point_2 = (np.array([-1.23422011]), np.array([06.54667031]))
assert_array_almost_equal(ax_rlocus.lines[0].get_data(),
initial_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[1].get_data(),
initial_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[2].get_data(),
initial_point_2, 4)
# Check the step response before moving the point
step_response_original = np.array([
0., 0.0217, 0.1281, 0.3237, 0.5797, 0.8566, 1.116, 1.3261, 1.4659,
1.526
])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_original, 4)
bode_plot_params = {
'omega': None,
'dB': False,
'Hz': False,
'deg': True,
'omega_limits': None,
'omega_num': None,
'sisotool': True,
'fig': fig,
'margins': True
}
# Move the rootlocus to another point
event = type(
'test', (object, ), {
'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes
})()
_RLClickDispatcher(event=event,
sys=self.system,
fig=fig,
ax_rlocus=ax_rlocus,
sisotool=True,
plotstr='-',
bode_plot_params=bode_plot_params,
tvect=None)
# Check the moved root locus plot points
moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),
moved_point_0, 4)
assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),
moved_point_1, 4)
assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),
moved_point_2, 4)
# Check if the bode_mag line has moved
bode_mag_moved = np.array([
111.83321224, 92.29238035, 76.02822315, 62.46884113, 51.14108703,
41.6554004, 33.69409534, 27.00237344, 21.38086717, 16.67791585
])
assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],
bode_mag_moved, 4)
# Check if the step response has changed
step_response_moved = np.array([
0., 0.0239, 0.161, 0.4547, 0.8903, 1.407, 1.9121, 2.2989, 2.4686,
2.353
])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_moved, 4)
def test_sisotool(self):
sisotool(self.system, Hz=False)
fig = plt.gcf()
ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[0], fig.axes[
1], fig.axes[2], fig.axes[3]
# Check the initial root locus plot points
initial_point_0 = (np.array([-22.53155977]), np.array([0.]))
initial_point_1 = (np.array([-1.23422011]), np.array([-6.54667031]))
initial_point_2 = (np.array([-1.23422011]), np.array([06.54667031]))
assert_array_almost_equal(ax_rlocus.lines[0].get_data(),
initial_point_0)
assert_array_almost_equal(ax_rlocus.lines[1].get_data(),
initial_point_1)
assert_array_almost_equal(ax_rlocus.lines[2].get_data(),
initial_point_2)
# Check the step response before moving the point
step_response_original = np.array([
0., 0.02233651, 0.13118374, 0.33078542, 0.5907113, 0.87041549,
1.13038536, 1.33851053, 1.47374666, 1.52757114
])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_original)
bode_plot_params = {
'omega': None,
'dB': False,
'Hz': False,
'deg': True,
'omega_limits': None,
'omega_num': None,
'sisotool': True,
'fig': fig,
'margins': True
}
# Move the rootlocus to another point
event = type(
'test', (object, ), {
'xdata': 2.31206868287,
'ydata': 15.5983051046,
'inaxes': ax_rlocus.axes
})()
_RLClickDispatcher(event=event,
sys=self.system,
fig=fig,
ax_rlocus=ax_rlocus,
sisotool=True,
plotstr='-',
bode_plot_params=bode_plot_params,
tvect=None)
# Check the moved root locus plot points
moved_point_0 = (np.array([-29.91742755]), np.array([0.]))
moved_point_1 = (np.array([2.45871378]), np.array([-15.52647768]))
moved_point_2 = (np.array([2.45871378]), np.array([15.52647768]))
assert_array_almost_equal(ax_rlocus.lines[-3].get_data(),
moved_point_0)
assert_array_almost_equal(ax_rlocus.lines[-2].get_data(),
moved_point_1)
assert_array_almost_equal(ax_rlocus.lines[-1].get_data(),
moved_point_2)
# Check if the bode_mag line has moved
bode_mag_moved = np.array([
111.83321224, 92.29238035, 76.02822315, 62.46884113, 51.14108703,
41.6554004, 33.69409534, 27.00237344, 21.38086717, 16.67791585
])
assert_array_almost_equal(ax_mag.lines[0].get_data()[1][10:20],
bode_mag_moved)
# Check if the step response has changed
step_response_moved = np.array([[
0., 0.02458187, 0.16529784, 0.46602716, 0.91012035, 1.43364313,
1.93996334, 2.3190105, 2.47041552, 2.32724853
]])
assert_array_almost_equal(ax_step.lines[0].get_data()[1][:10],
step_response_moved)
