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refactoring of nichols into response/plot + updated unit tests, examples
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‎LICENSE

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Copyright (c) 2009-2016 by California Institute of Technology
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Copyright (c) 2016-2023 by python-control developers
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All rights reserved.
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Redistribution and use in source and binary forms, with or without

‎control/frdata.py

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@@ -667,12 +667,15 @@ def plot(self, plot_type=None, *args, **kwargs):
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"""
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from .freqplot import bode_plot, singular_values_plot
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from .nichols import nichols_plot
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if plot_type is None:
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plot_type = self.plot_type
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if plot_type == 'bode':
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return bode_plot(self, *args, **kwargs)
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elif plot_type == 'nichols':
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return nichols_plot(self, *args, **kwargs)
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elif plot_type == 'svplot':
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return singular_values_plot(self, *args, **kwargs)
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else:

‎control/freqplot.py

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# freqplot.py - frequency domain plots for control systems
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#
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# Author: Richard M. Murray
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# Initial author: Richard M. Murray
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# Date: 24 May 09
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#
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# Functionality to add
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# [ ] Get rid of this long header (need some common, documented convention)
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# [x] Add mechanisms for storing/plotting margins? (currently forces FRD)
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# This file contains some standard control system plots: Bode plots,
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# Nyquist plots and other frequency response plots. The code for Nichols
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# charts is in nichols.py. The code for pole-zero diagrams is in pzmap.py
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# and rlocus.py.
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#
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# Functionality to add/check (Jul 2023, working list)
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# [?] Allow line colors/styles to be set in plot() command (also time plots)
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# [x] Allow bode or nyquist style plots from plot()
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# [i] Allow nyquist_response() to generate the response curve (?)
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# [i] Allow MIMO frequency plots (w/ mag/phase subplots a la MATLAB)
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# [i] Update sisotool to use ax=
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# [i] Create __main__ in freqplot_test to view results (a la timeplot_test)
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# [ ] Get sisotool working in iPython and document how to make it work
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# [i] Allow share_magnitude, share_phase, share_frequency keywords for units
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# [i] Re-implement including of gain/phase margin in the title (?)
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# [i] Change gangof4 to use bode_plot(plot_phase=False) w/ proper labels
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# [ ] Allow use of subplot labels instead of output/input subtitles
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# [i] Add line labels to gangof4 [done by via bode_plot()]
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# [i] Allow frequency range to be overridden in bode_plot
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# [i] Unit tests for discrete time systems with different sample times
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# [c] Check examples/bode-and-nyquist-plots.ipynb for differences
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# [ ] Add unit tests for ct.config.defaults['freqplot_number_of_samples']
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#
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# This file contains some standard control system plots: Bode plots,
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# Nyquist plots and other frequency response plots. The code for Nichols
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# charts is in nichols.py. The code for pole-zero diagrams is in pzmap.py
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# and rlocus.py.
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#
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# Copyright (c) 2010 by California Institute of Technology
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the California Institute of Technology nor
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# the names of its contributors may be used to endorse or promote
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# products derived from this software without specific prior
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# written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH
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# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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# SUCH DAMAGE.
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#
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
@@ -128,15 +82,12 @@ def plot(self, *args, plot_type=None, **kwargs):
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if plot_type is not None and response.plot_type != plot_type:
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raise TypeError(
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"inconsistent plot_types in data; set plot_type "
131-
"to 'bode' or 'svplot'")
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"to 'bode', 'nichols', or 'svplot'")
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plot_type = response.plot_type
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134-
if plot_type == 'bode':
135-
return bode_plot(self, *args, **kwargs)
136-
elif plot_type == 'svplot':
137-
return singular_values_plot(self, *args, **kwargs)
138-
else:
139-
raise ValueError(f"unknown plot type '{plot_type}'")
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# Use FRD plot method, which can handle lists via plot functions
89+
return FrequencyResponseData.plot(
90+
self, plot_type=plot_type, *args, **kwargs)
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#
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# Bode plot
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ax.grid(color="lightgray")
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# List of systems that are included in this plot
1939-
labels, lines = [], []
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last_color, counter = None, 0 # label unknown systems
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for i, line in enumerate(ax.get_lines()):
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label = line.get_label()
1943-
if label.startswith("Unknown"):
1944-
label = f"Unknown-{counter}"
1945-
if last_color is None:
1946-
last_color = line.get_color()
1947-
elif last_color != line.get_color():
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counter += 1
1949-
last_color = line.get_color()
1950-
elif label[0] == '_':
1951-
continue
1952-
1953-
if label not in labels:
1954-
lines.append(line)
1955-
labels.append(label)
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lines, labels = _get_line_labels(ax)
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19571892
# Add legend if there is more than one system plotted
19581893
if len(labels) > 1:
@@ -2279,6 +2214,9 @@ def singular_values_plot(
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(legacy) If given, `singular_values_plot` returns the legacy return
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values of magnitude, phase, and frequency. If False, just return
22812216
the values with no plot.
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legend_loc : str, optional
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For plots with multiple lines, a legend will be included in the
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given location. Default is 'center right'. Use False to supress.
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**kwargs : :func:`matplotlib.pyplot.plot` keyword properties, optional
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Additional keywords passed to `matplotlib` to specify line properties.
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@@ -2400,8 +2338,8 @@ def singular_values_plot(
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if dB:
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with plt.rc_context(freqplot_rcParams):
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out[idx_sys] = ax_sigma.semilogx(
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omega_plot, 20 * np.log10(sigma_plot), color=color,
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label=sysname, *fmt, **kwargs)
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omega_plot, 20 * np.log10(sigma_plot), *fmt, color=color,
2342+
label=sysname, **kwargs)
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else:
24062344
with plt.rc_context(freqplot_rcParams):
24072345
out[idx_sys] = ax_sigma.loglog(
@@ -2422,26 +2360,10 @@ def singular_values_plot(
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ax_sigma.set_xlabel("Frequency [Hz]" if Hz else "Frequency [rad/sec]")
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24242362
# List of systems that are included in this plot
2425-
labels, lines = [], []
2426-
last_color, counter = None, 0 # label unknown systems
2427-
for i, line in enumerate(ax_sigma.get_lines()):
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label = line.get_label()
2429-
if label.startswith("Unknown"):
2430-
label = f"Unknown-{counter}"
2431-
if last_color is None:
2432-
last_color = line.get_color()
2433-
elif last_color != line.get_color():
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counter += 1
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last_color = line.get_color()
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elif label[0] == '_':
2437-
continue
2438-
2439-
if label not in labels:
2440-
lines.append(line)
2441-
labels.append(label)
2363+
lines, labels = _get_line_labels(ax_sigma)
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24432365
# Add legend if there is more than one system plotted
2444-
if len(labels) > 1:
2366+
if len(labels) > 1 and legend_loc is not False:
24452367
with plt.rc_context(freqplot_rcParams):
24462368
ax_sigma.legend(lines, labels, loc=legend_loc)
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@@ -2649,6 +2571,28 @@ def _default_frequency_range(syslist, Hz=None, number_of_samples=None,
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return omega
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26512573

2574+
# Get labels for all lines in an axes
2575+
def _get_line_labels(ax, use_color=True):
2576+
labels, lines = [], []
2577+
last_color, counter = None, 0 # label unknown systems
2578+
for i, line in enumerate(ax.get_lines()):
2579+
label = line.get_label()
2580+
if use_color and label.startswith("Unknown"):
2581+
label = f"Unknown-{counter}"
2582+
if last_color is None:
2583+
last_color = line.get_color()
2584+
elif last_color != line.get_color():
2585+
counter += 1
2586+
last_color = line.get_color()
2587+
elif label[0] == '_':
2588+
continue
2589+
2590+
if label not in labels:
2591+
lines.append(line)
2592+
labels.append(label)
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return lines, labels
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#
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# Utility functions to create nice looking labels (KLD 5/23/11)
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#

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