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Fix warning messages in rootlocus_pid_designer unit tests #684

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Merged
merged 2 commits into from
Dec 31, 2021
Merged

Fix warning messages in rootlocus_pid_designer unit tests #684

merged 2 commits into from
Dec 31, 2021

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murrayrm
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This PR gets rid of warning messages introduced in PR #662:

  • Since rootlocus_pid_designer leaves either r or d disconnected, the interconnect function was generating warnings (76 of them...). This was fixed by using check_unused=False.
  • Calling rootlocus_pid_designer with plot=True seems to generate a Bode plot that is -1 and this creates a warning:
control/ctrlutil.py:75: RuntimeWarning: invalid value encountered in remainder
  dangle_desired = (dangle + period/2.) % period - period/2.

For now this latter problem is fixed by skipping this test.

@sawyerbfuller I'm not quite sure how to fix this error. If I try running the test by hand using

ct.rootlocus_pid_designer(syscont, input_signal='r', Kp0=0.01,
    derivative_in_feedback_path=True, gain='P')

then I get the following plot:

Sisotool_pid_designer_bug

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Coverage Status

Coverage decreased (-0.2%) to 93.383% when pulling 7cfa42a on murrayrm:fix_pid_designer_warnings into 8356044 on python-control:master.

@murrayrm
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Merging this for 0.9.1, but will create an issue to track the possible bug above.

@murrayrm murrayrm merged commit b78dcc4 into python-control:master Dec 31, 2021
@murrayrm murrayrm mentioned this pull request Dec 31, 2021
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