Fix margin() documentation to address issue #195 #198
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control/margins.py
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| Wcp : float | ||
| Phase crossover frequency (corresponding to gain margin) (in rad/sec) | ||
| wg: float | ||
| Gain margin crossover frequency (where phase crosses -180 degrees) |
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Why not omit "crossover" altogether? The parenthetical remarks are helpful -- I always get these mixed up.
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I must admit that the Mathworks explanation is nice here https://www.mathworks.com/help/control/ref/margin.html
I don't agree with the terminology as you now propose.
Gain crossover frequency is where gain is (crosses!) 0dB -- corresponds to gain margin
we can call it Wgco or Wpm
Phase crossover (frequency) is where phase crosses -180 deg -- corresponds to phase margin
We can call it Wpco or wg
Gain margin crossover is simply confusing
Maybe say:
wg: frequency at gain margin (phase crossover point, phase = -180 deg)
wp: frequency at phase margin (gain crossover point, gain = 0dB)
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@murrayrm, I added a commit on this PR. I also edited comments for the related stability_margins function. |
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