Time response plot improvements #1018

murrayrm · 2024-06-29T21:01:30Z

This PR makes improvements to the code for plotting time responses, building on some of the improvements made for frequency response plots (#1011):

Fix up the ax keyword processing to allow arrays or lists + uniform processing for all (time and frequency) plot routines.
Slight refactoring of code to put common functions in ctrlplot.py (additional changes coming in future PR to further consolidate common code)
Allow time responses for multiple systems with common time vector and inputs. This enables commands like
```
ct.step_response([sys1, sys2]).plot
```
to find a single time interval (before you had to call step_response twice and could get different default time intervals).
Fix sequential plotting so that different colors are used and plot title is updated (like Bode and Nyquist).
Allow label keyword in various time response commands to override default label generation.
Allow legends to be turned on and off using show_legend keyword.
Added a file examples/plot_gallery.py that generates a PDF file with some standard plots to compare changes in basic plotting between PRs and releases.

To get a sense of the differences, consider the following code:

sys_mimo1 = ct.tf2ss(
    [[[1], [0.1]], [[0.2], [1]]],
    [[[1, 0.6, 1], [1, 1, 1]], [[1, 0.4, 1], [1, 2, 1]]], name="sys_mimo1")
sys_mimo2 = ct.tf2ss(
    [[[1], [0.1]], [[0.2], [1]]],
    [[[1, 0.2, 1], [1, 24, 22, 5]], [[1, 4, 16, 21], [1, 0.1]]],
    name="sys_mimo2")
ct.step_response(sys_mimo1).plot()
ct.step_response(sys_mimo2).plot()

Prior to this PR, the output from this code was

Note the fact that both responses are in the same color.

With this PR, the output becomes

Furthermore, you can compute a single time range using the command

ct.step_response([sys_mimo1, sys_mimo2])

which gives a single time range for both systems:

coveralls · 2024-06-29T21:14:28Z

coverage: 94.524% (+0.006%) from 94.518%
when pulling d459569 on murrayrm:timeresp_improvements-01Jun2024
into feeb56a on python-control:main.

slivingston · 2024-07-02T04:47:18Z

control/nlsys.py

@@ -1327,8 +1327,8 @@ def input_output_response(

    Parameters
    ----------
-    sys : InputOutputSystem
-        Input/output system to simulate.
+    sysdata : I/O system or list of I/O systems


It is useful to include a class name here because, in that case, docs generation results in a link to documentation for the class. Unless I missed something, this should be NonlinearIOSystem. This will work even when the type is written as "...or list of...", e.g., compare with the data parameter of nyquist_plot: https://python-control.readthedocs.io/en/0.10.0/generated/control.nyquist_plot.html

slivingston · 2024-07-03T06:42:58Z

I will finish reviewing this tomorrow morning.

slivingston

Good improvements! This is ready to merge after you consider/apply my comments.

slivingston · 2024-07-02T19:25:37Z

control/ctrlplot.py

+        common_prefix = common_prefix[:last_space]
+    prefix_len = len(common_prefix)
+
+    # Look for a common suffice (up to a space)


Suggested change

# Look for a common suffice (up to a space)

# Look for a common suffix (up to a space)

slivingston · 2024-07-03T18:12:54Z

examples/cds110_lti-systems.ipynb

Misprints:

"to define and input/output" -> "to define an input/output"

"response object, we can be" -> "response object, which can be"

slivingston · 2024-07-03T18:13:41Z

examples/plot_gallery.py

+# used to compare what things look like between different versions of the
+# library.  It is mainly intended for uses by developers to make sure there
+# are no unexpected changes in plot formats, but also has some interest
+# examples of htings you can plot.


Suggested change

# examples of htings you can plot.

# examples of things you can plot.

slivingston · 2024-07-03T18:49:12Z

examples/plot_gallery.py

+    # Create a pdf file for storing the results
+    from matplotlib.backends.backend_pdf import PdfPages
+    from datetime import date
+    git_info = os.popen('git describe').read().strip()


Should it be considered an error if a Git repository is not found?

I ask because os.popen will not raise an exception if the subprocess has errors, so git_info will be an empty string and plot_gallery.py will continue if git describe fails. If you want an exception, I recommend check_output:

import subprocess git_info = subprocess.check_output(['git', 'describe'], text=True).strip()

slivingston · 2024-07-03T18:54:33Z

doc/conventions.rst

+automatically compute the time vector based on the poles and zeros of
+system.  If a list of systems is passed, a common time vector will be
+computed and a list of responses will be returned in the form of a
+:class:`TimeResponseList` object.  The :func:`force_response` function can


Suggested change

:class:`TimeResponseList` object. The :func:`force_response` function can

:class:`TimeResponseList` object. The :func:`forced_response` function can

slivingston · 2024-07-03T18:55:57Z

doc/conventions.rst

+:class:`TimeResponseList` object.  The :func:`force_response` function can
+also take a list of systems, to which a single common input is applied.
+The :class:`TimeResponseList` object has a `plot()` method that will plot
+each of the reponses in turn, using a sequence of different colors with


Suggested change

each of the reponses in turn, using a sequence of different colors with

each of the responses in turn, using a sequence of different colors with

slivingston · 2024-07-03T18:56:47Z

doc/conventions.rst

+For linear time invariant (LTI) systems, the :func:`impulse_response`,
+:func:`initial_response`, and :func:`step_response` functions will
+automatically compute the time vector based on the poles and zeros of
+system.  If a list of systems is passed, a common time vector will be


Suggested change

system. If a list of systems is passed, a common time vector will be

the system. If a list of systems is passed, a common time vector will be

slivingston · 2024-07-03T19:14:37Z

control/nlsys.py

@@ -1317,7 +1317,7 @@ def nlsys(


 def input_output_response(
-        sys, T, U=0., X0=0, params=None, ignore_errors=False,
+        sysdata, T, U=0., X0=0, params=None, ignore_errors=False,


Changing the parameter name sys to sysdata here and in other functions modified by this pull request is good for clarity to users, but it will break existing calls of the form input_output_response(sys=ss, ...). As such, the next version probably should be 0.11.0 instead of 0.10.1 (#1020) to emphasize that existing code using control may need to be updated.

coveralls · 2024-07-07T02:32:52Z

coverage: 94.554% (+0.04%) from 94.518%
when pulling 10f009b on murrayrm:timeresp_improvements-01Jun2024
into feeb56a on python-control:main.

murrayrm added 11 commits June 29, 2024 12:41

initial pass at defining lists of systems for time responses

95326b0

use _process_ax_keyword in time_response_plot

3732217

refactoring to put common functions in ctrlplot.py

44123c9

Add list of systems functionality to time response functions

8b416eb

allow combining I/O time responses with different numbers of states

6be8f48

add plot_gallery to compare plotting results between builds

8b269bf

improved unit tests for rcParams + small fix to suptitle rcParams

cc6aeb6

allow label keyword to override generated labels

ed8a1c1

cleanup after plotting in test functions

92d36cc

add CDS 110 example notebook demonstrating features

8f0c227

add show_legend processing

d459569

slivingston self-requested a review June 29, 2024 22:54

slivingston self-assigned this Jun 29, 2024

murrayrm added this to the 0.10.1 milestone Jun 30, 2024

murrayrm mentioned this pull request Jun 30, 2024

Version 0.10.1 release plans #1020

Closed

11 tasks

slivingston reviewed Jul 2, 2024

View reviewed changes

slivingston reviewed Jul 3, 2024

View reviewed changes

address @slivingston review comments

10f009b

murrayrm merged commit 5ba44b5 into python-control:main Jul 7, 2024
23 checks passed

murrayrm deleted the timeresp_improvements-01Jun2024 branch July 7, 2024 02:33

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Time response plot improvements #1018

Time response plot improvements #1018

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coveralls commented Jul 7, 2024

	# Look for a common suffice (up to a space)
	# Look for a common suffix (up to a space)

	# examples of htings you can plot.
	# examples of things you can plot.

	:class:`TimeResponseList` object. The :func:`force_response` function can
	:class:`TimeResponseList` object. The :func:`forced_response` function can

	each of the reponses in turn, using a sequence of different colors with
	each of the responses in turn, using a sequence of different colors with

	system. If a list of systems is passed, a common time vector will be
	the system. If a list of systems is passed, a common time vector will be

Time response plot improvements #1018

Time response plot improvements #1018

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coveralls commented Jul 7, 2024