def plot_phase_plane_closed_loop( self , x_axis = 0 , y_axis = 1 ):
"""
Plot Phase Plane vector field of the system
------------------------------------------------
blue arrows for the open-loop behavior
red arrows for the closed-loop behavior
"""
pp = phaseanalysis.PhasePlot( self.plant , x_axis , y_axis )
pp.compute_grid()
pp.plot_init()
# Closed-loop Behavior
pp.color = 'b'
pp.compute_vector_field()
pp.plot_vector_field()
# Open-Loop Behavior
pp.f = self.fzbar # assume default internal states
pp.ubar = self.ubar
pp.color = 'r'
pp.compute_vector_field()
pp.plot_vector_field()
pp.plot_finish()
return pp
def phase_plane_trajectory_closed_loop(self, traj, x_axis, y_axis):
""" """
pp = phaseanalysis.PhasePlot(self.sys, x_axis, y_axis)
pp.compute_grid()
pp.plot_init()
# Closed-loop Behavior
pp.color = 'r'
pp.compute_vector_field()
pp.plot_vector_field()
# Open-Loop Behavior
pp.f = self.sys.f
pp.ubar = self.sys.ubar
pp.color = 'b'
pp.compute_vector_field()
pp.plot_vector_field()
pp.plot_finish()
# Plot trajectory
plt.plot(traj.x[:, x_axis], traj.x[:, y_axis], 'b-') # path
plt.plot([traj.x[0, x_axis]], [traj.x[0, y_axis]], 'o') # start
plt.plot([traj.x[-1, x_axis]], [traj.x[-1, y_axis]], 's') # end
plt.draw()
plt.tight_layout()
plt.draw()
plt.show()
def phase_plane_trajectory_closed_loop(self , x_axis , y_axis ):
""" """
self.pp = phaseanalysis.PhasePlot( self.cds , x_axis , y_axis )
self.pp.compute_grid()
self.pp.plot_init()
# Closed-loop Behavior
self.pp.color = 'r'
self.pp.compute_vector_field()
self.pp.plot_vector_field()
# Open-Loop Behavior
self.pp.f = self.sys.f
self.pp.ubar = self.sys.ubar
self.pp.color = 'b'
self.pp.compute_vector_field()
self.pp.plot_vector_field()
self.pp.plot_finish()
# Plot trajectory
plt.plot(self.x_sol[:,x_axis], self.x_sol[:,y_axis], 'b-') # path
plt.plot([self.x_sol[0,x_axis]], [self.x_sol[0,y_axis]], 'o') # start
plt.plot([self.x_sol[-1,x_axis]], [self.x_sol[-1,y_axis]], 's') # end
plt.tight_layout()
def plot_phase_plane_closed_loop(self, x_axis=0, y_axis=1):
"""
Plot Phase Plane vector field of the system
------------------------------------------------
x_axis : index of state on x axis
y_axis : index of state on y axis
"""
self.pp = phaseanalysis.PhasePlot(self, x_axis, y_axis)
self.pp.compute_grid()
self.pp.plot_init()
# Closed-loop Behavior
self.pp.color = 'r'
self.pp.compute_vector_field()
self.pp.plot_vector_field()
# Open-Loop Behavior
self.pp.f = self.sys.f
self.pp.ubar = self.sys.ubar
self.pp.color = 'b'
self.pp.compute_vector_field()
self.pp.plot_vector_field()
self.pp.plot_finish()
def phase_plane_trajectory(self , x_axis , y_axis ):
""" """
self.pp = phaseanalysis.PhasePlot( self.cds , x_axis , y_axis )
self.pp.plot()
plt.plot(self.x_sol[:,x_axis], self.x_sol[:,y_axis], 'b-') # path
plt.plot([self.x_sol[0,x_axis]], [self.x_sol[0,y_axis]], 'o') # start
plt.plot([self.x_sol[-1,x_axis]], [self.x_sol[-1,y_axis]], 's') # end
self.pp.phasefig.tight_layout()
def plot_phase_plane(self , x_axis = 0 , y_axis = 1 ):
"""
Plot Phase Plane vector field of the system
------------------------------------------------
x_axis : index of state on x axis
y_axis : index of state on y axis
"""
self.pp = phaseanalysis.PhasePlot( self , x_axis , y_axis )
self.pp.plot()
def phase_plane_trajectory(self, traj, x_axis=0, y_axis=1):
""" """
pp = phaseanalysis.PhasePlot(self.sys, x_axis, y_axis)
pp.plot()
plt.plot(traj.x[:, x_axis], traj.x[:, y_axis], 'b-') # path
plt.plot([traj.x[0, x_axis]], [traj.x[0, y_axis]], 'o') # start
plt.plot([traj.x[-1, x_axis]], [traj.x[-1, y_axis]], 's') # end
plt.draw()
pp.phasefig.tight_layout()
plt.draw()
plt.show()