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Change step_info undershoot percentage calculation #590

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Merged
merged 5 commits into from
Mar 25, 2021
Merged

Change step_info undershoot percentage calculation #590

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a95f75f
Solved undershoot value calculus problem.
juanodecc Mar 24, 2021
95ca297
Update timeresp.py
juanodecc Mar 24, 2021
1e3109f
Style cleanup
bnavigator Mar 25, 2021
11d89b3
Update comment for MATLAB reference
bnavigator Mar 25, 2021
14a92fe
simplify undershoot calculation
bnavigator Mar 25, 2021
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12 changes: 6 additions & 6 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -301,17 +301,17 @@ def mimo_ss_step_matlab(self):
'SteadyStateValue': -0.5394},
{'RiseTime': 0.0000, # (*)
'SettlingTime': 3.4000,
'SettlingMin': -0.1034,
'SettlingMin': -0.4350, # (*)
'SettlingMax': -0.1485,
'Overshoot': 132.0170,
'Undershoot': 79.222, # 0. in MATLAB
'Undershoot': 0.,
'Peak': 0.4350,
'PeakTime': .2,
'SteadyStateValue': -0.1875}]]
# (*): MATLAB gives 0.4 here, but it is unclear what
# 10% and 90% of the steady state response mean, when
# the step for this channel does not start a 0 for
# 0 initial conditions
# (*): MATLAB gives 0.4 for RiseTime and -0.1034 for
# SettlingMin, but it is unclear what 10% and 90% of
# the steady state response mean, when the step for
# this channel does not start a 0.
return T

@pytest.fixture
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10 changes: 5 additions & 5 deletions control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -923,11 +923,11 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None,
else:
overshoot = 0

# Undershoot
y_us = (sgnInf * yout).min()
dy_us = np.abs(y_us)
if dy_us > 0:
undershoot = np.abs(100. * dy_us / InfValue)
# Undershoot : InfValue and undershoot must have opposite sign
y_us_index = (sgnInf * yout).argmin()
y_us = yout[y_us_index]
if (sgnInf * y_us) < 0:
undershoot = (-100. * y_us / InfValue)
else:
undershoot = 0

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