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Update nyquist_plot to call nyquist_response correctly #1096

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Merged
merged 2 commits into from
Jan 16, 2025
Merged

Update nyquist_plot to call nyquist_response correctly #1096

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6db1a1c
update nyquist_plot to call nyquist_response with all args + unit tests
murrayrm Jan 14, 2025
54c4fd9
fix small typos per @slivingston review
murrayrm Jan 16, 2025
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26 changes: 16 additions & 10 deletions control/freqplot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1162,7 +1162,7 @@ def plot(self, *args, **kwargs):
def nyquist_response(
sysdata, omega=None, omega_limits=None, omega_num=None,
return_contour=False, warn_encirclements=True, warn_nyquist=True,
_check_kwargs=True, **kwargs):
_kwargs=None, _check_kwargs=True, **kwargs):
"""Nyquist response for a system.

Computes a Nyquist contour for the system over a (optional) frequency
Expand Down Expand Up @@ -1263,21 +1263,28 @@ def nyquist_response(
>>> lines = response.plot()

"""
# Create unified list of keyword arguments
if _kwargs is None:
_kwargs = kwargs
else:
# Use existing dictionary, to keep track of processed keywords
_kwargs |= kwargs

# Get values for params
omega_num_given = omega_num is not None
omega_num = config._get_param('freqplot', 'number_of_samples', omega_num)
indent_radius = config._get_param(
'nyquist', 'indent_radius', kwargs, _nyquist_defaults, pop=True)
'nyquist', 'indent_radius', _kwargs, _nyquist_defaults, pop=True)
encirclement_threshold = config._get_param(
'nyquist', 'encirclement_threshold', kwargs,
'nyquist', 'encirclement_threshold', _kwargs,
_nyquist_defaults, pop=True)
indent_direction = config._get_param(
'nyquist', 'indent_direction', kwargs, _nyquist_defaults, pop=True)
'nyquist', 'indent_direction', _kwargs, _nyquist_defaults, pop=True)
indent_points = config._get_param(
'nyquist', 'indent_points', kwargs, _nyquist_defaults, pop=True)
'nyquist', 'indent_points', _kwargs, _nyquist_defaults, pop=True)

if _check_kwargs and kwargs:
raise TypeError("unrecognized keywords: ", str(kwargs))
if _check_kwargs and _kwargs:
raise TypeError("unrecognized keywords: ", str(_kwargs))

# Convert the first argument to a list
syslist = sysdata if isinstance(sysdata, (list, tuple)) else [sysdata]
Expand Down Expand Up @@ -1782,15 +1789,14 @@ def _parse_linestyle(style_name, allow_false=False):
if all([isinstance(
sys, (StateSpace, TransferFunction, FrequencyResponseData))
for sys in data]):
# Get the response, popping off keywords used there
# Get the response; pop explicit keywords here, kwargs in _response()
nyquist_responses = nyquist_response(
data, omega=omega, return_contour=return_contour,
omega_limits=kwargs.pop('omega_limits', None),
omega_num=kwargs.pop('omega_num', None),
warn_encirclements=kwargs.pop('warn_encirclements', True),
warn_nyquist=kwargs.pop('warn_nyquist', True),
indent_radius=kwargs.pop('indent_radius', None),
_check_kwargs=False, **kwargs)
_kwargs=kwargs, _check_kwargs=False)
else:
nyquist_responses = data

Expand Down
2 changes: 0 additions & 2 deletions control/rlocus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -186,8 +186,6 @@ def root_locus_plot(
then set the axis limits to the desired values.

"""
from .pzmap import pole_zero_plot

# Legacy parameters
for oldkey in ['kvect', 'k']:
gains = config._process_legacy_keyword(kwargs, oldkey, 'gains', gains)
Expand Down
79 changes: 79 additions & 0 deletions control/tests/response_test.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,79 @@
# response_test.py - test response/plot design pattern
# RMM, 13 Jan 2025
#
# The standard pattern for control plots is to call a _response() or _map()
# function and then use the plot() method. However, it is also allowed to
# call the _plot() function directly, in which case the _response()/_map()
# function is called internally.
#
# If there are arguments that are allowed in _plot() that need to be
# processed by _response(), then we need to make sure that arguments are
# properly passed from _plot() to _response(). The unit tests in this file
# make sure that this functionality is implemented properly across all
# *relevant* _response/_map/plot pairs.
#
# Response/map function Plotting function Comments
# --------------------- ----------------- --------
# describing_function_response describing_function_plot no passthru args
# forced_response time_response_plot no passthru args
# frequency_response bode_plot included below
# frequency_response nichols_plot included below
# gangof4_response gangof4_plot included below
# impulse_response time_response_plot no passthru args
# initial_response time_response_plot no passthru args
# input_output_response time_response_plot no passthru args
# nyquist_response nyquist_plot included below
# pole_zero_map pole_zero_plot no passthru args
# root_locus_map root_locus_plot included below
# singular_values_response singular_values_plot included below
# step_response time_response_plot no passthru args

import matplotlib.pyplot as plt
import numpy as np
import pytest

import control as ct


# List of parameters that should be processed by response function
@pytest.mark.parametrize("respfcn, plotfcn, respargs", [
(ct.frequency_response, ct.bode_plot,
{'omega_limits': [1e-2, 1e2], 'omega_num': 50, 'Hz': True}),
(ct.frequency_response, ct.bode_plot, {'omega': np.logspace(2, 2)}),
(ct.frequency_response, ct.nichols_plot, {'omega': np.logspace(2, 2)}),
(ct.gangof4_response, ct.gangof4_plot, {'omega': np.logspace(2, 2)}),
(ct.gangof4_response, ct.gangof4_plot,
{'omega_limits': [1e-2, 1e2], 'omega_num': 50, 'Hz': True}),
(ct.nyquist_response, ct.nyquist_plot,
{'indent_direction': 'right', 'indent_radius': 0.1, 'indent_points': 100,
'omega_num': 50, 'warn_nyquist': False}),
(ct.root_locus_map, ct.root_locus_plot, {'gains': np.linspace(1, 10, 5)}),
(ct.singular_values_response, ct.singular_values_plot,
{'omega_limits': [1e-2, 1e2], 'omega_num': 50, 'Hz': True}),
(ct.singular_values_response, ct.singular_values_plot,
{'omega': np.logspace(2, 2)}),
])
@pytest.mark.usefixtures('mplcleanup')
def test_response_plot(respfcn, plotfcn, respargs):
if respfcn is ct.gangof4_response:
# Two arguments required
args = (ct.rss(4, 1, 1, strictly_proper=True), ct.rss(1, 1, 1))
else:
# Single argument is enough
args = (ct.rss(4, 1, 1, strictly_proper=True), )

# Standard calling pattern - generate response, then plot
plt.figure()
resp = respfcn(*args, **respargs)
if plotfcn is ct.nichols_plot:
cplt_resp = resp.plot(plot_type='nichols')
else:
cplt_resp = resp.plot()

# Alternative calling pattern - call plotting function directly
plt.figure()
cplt_plot = plotfcn(*args, **respargs)

# Make sure the plots have the same elements
assert cplt_resp.lines.shape == cplt_plot.lines.shape
assert cplt_resp.axes.shape == cplt_plot.axes.shape
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