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Fix warning messages in tests; update rlocus/pzmap limits #984

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Merged
merged 1 commit into from
Mar 31, 2024
Merged

Fix warning messages in tests; update rlocus/pzmap limits #984

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10 changes: 8 additions & 2 deletions control/pzmap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -330,7 +330,7 @@ def pole_zero_plot(
if grid == 'empty':
# Leave off grid entirely
ax = plt.axes()
xlim = ylim = [0, 0] # use data to set limits
xlim = ylim = [np.inf, -np.inf] # use data to set limits
else:
# draw stability boundary; use first response timebase
ax, fig = nogrid(data[0].dt, scaling=scaling)
Expand Down Expand Up @@ -574,7 +574,7 @@ def _compute_root_locus_limits(response):
]
ylim = max(0, np.max(response.sys.zeros().imag))
else:
xlim, ylim = [0, 0], 0
xlim, ylim = [np.inf, -np.inf], 0

# Go through each locus and look for features
rho = config._get_param('pzmap', 'buffer_factor')
Expand Down Expand Up @@ -603,6 +603,12 @@ def _compute_root_locus_limits(response):
xlim[1] = rho * xlim[1] if xlim[1] > 0 else 0
ylim = rho * ylim if ylim > 0 else np.max(np.abs(xlim))

# Make sure the limits make sense
if xlim == [0, 0]:
xlim = [-1, 1]
if ylim == 0:
ylim = 1

return xlim, [-ylim, ylim]


Expand Down
15 changes: 10 additions & 5 deletions control/tests/rlocus_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -186,11 +186,13 @@ def test_root_locus_documentation(savefigs=False):
sys = ct.tf([1, 2], [1, 2, 3], name='SISO transfer function')
response = ct.pole_zero_map(sys)
ct.pole_zero_plot(response)
plt.savefig('pzmap-siso_ctime-default.png')
if savefigs:
plt.savefig('pzmap-siso_ctime-default.png')

plt.figure()
ct.root_locus_map(sys).plot()
plt.savefig('rlocus-siso_ctime-default.png')
if savefigs:
plt.savefig('rlocus-siso_ctime-default.png')

# TODO: generate event in order to generate real title
plt.figure()
Expand All @@ -200,18 +202,21 @@ def test_root_locus_documentation(savefigs=False):
with plt.rc_context(freqplot_rcParams):
ax.set_title(
"Clicked at: -2.729+1.511j gain = 3.506 damping = 0.8748")
plt.savefig('rlocus-siso_ctime-clicked.png')
if savefigs:
plt.savefig('rlocus-siso_ctime-clicked.png')

plt.figure()
sysd = sys.sample(0.1)
ct.root_locus_plot(sysd)
plt.savefig('rlocus-siso_dtime-default.png')
if savefigs:
plt.savefig('rlocus-siso_dtime-default.png')

plt.figure()
sys1 = ct.tf([1, 2], [1, 2, 3], name='sys1')
sys2 = ct.tf([1, 0.2], [1, 1, 3, 1, 1], name='sys2')
ct.root_locus_plot([sys1, sys2], grid=False)
plt.savefig('rlocus-siso_multiple-nogrid.png')
if savefigs:
plt.savefig('rlocus-siso_multiple-nogrid.png')


if __name__ == "__main__":
Expand Down