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Fix missing plot title in bode_plot() with display_margins #1121

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Merged
merged 1 commit into from
Feb 3, 2025
Merged

Fix missing plot title in bode_plot() with display_margins #1121

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48 changes: 29 additions & 19 deletions control/freqplot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -134,7 +134,8 @@ def bode_plot(
If True, draw gain and phase margin lines on the magnitude and phase
graphs and display the margins at the top of the graph. If set to
'overlay', the values for the gain and phase margin are placed on
the graph. Setting display_margins turns off the axes grid.
the graph. Setting `display_margins` turns off the axes grid, unless
`grid` is explicitly set to True.
**kwargs : `matplotlib.pyplot.plot` keyword properties, optional
Additional keywords passed to `matplotlib` to specify line properties.

Expand Down Expand Up @@ -276,6 +277,24 @@ def bode_plot(
# Make a copy of the kwargs dictionary since we will modify it
kwargs = dict(kwargs)

# Legacy keywords for margins
display_margins = config._process_legacy_keyword(
kwargs, 'margins', 'display_margins', display_margins)
if kwargs.pop('margin_info', False):
warnings.warn(
"keyword 'margin_info' is deprecated; "
"use 'display_margins='overlay'")
if display_margins is False:
raise ValueError(
"conflicting_keywords: `display_margins` and `margin_info`")

# Turn off grid if display margins, unless explicitly overridden
if display_margins and 'grid' not in kwargs:
kwargs['grid'] = False

margins_method = config._process_legacy_keyword(
kwargs, 'method', 'margins_method', margins_method)

# Get values for params (and pop from list to allow keyword use in plot)
dB = config._get_param(
'freqplot', 'dB', kwargs, _freqplot_defaults, pop=True)
Expand Down Expand Up @@ -316,19 +335,6 @@ def bode_plot(
"sharex cannot be present with share_frequency")
kwargs['share_frequency'] = sharex

# Legacy keywords for margins
display_margins = config._process_legacy_keyword(
kwargs, 'margins', 'display_margins', display_margins)
if kwargs.pop('margin_info', False):
warnings.warn(
"keyword 'margin_info' is deprecated; "
"use 'display_margins='overlay'")
if display_margins is False:
raise ValueError(
"conflicting_keywords: `display_margins` and `margin_info`")
margins_method = config._process_legacy_keyword(
kwargs, 'method', 'margins_method', margins_method)

if not isinstance(data, (list, tuple)):
data = [data]

Expand Down Expand Up @@ -727,7 +733,7 @@ def _make_line_label(response, output_index, input_index):
label='_nyq_mag_' + sysname)

# Add a grid to the plot
ax_mag.grid(grid and not display_margins, which='both')
ax_mag.grid(grid, which='both')

# Phase
if plot_phase:
Expand All @@ -742,7 +748,7 @@ def _make_line_label(response, output_index, input_index):
label='_nyq_phase_' + sysname)

# Add a grid to the plot
ax_phase.grid(grid and not display_margins, which='both')
ax_phase.grid(grid, which='both')

#
# Display gain and phase margins (SISO only)
Expand All @@ -753,6 +759,10 @@ def _make_line_label(response, output_index, input_index):
raise NotImplementedError(
"margins are not available for MIMO systems")

if display_margins == 'overlay' and len(data) > 1:
raise NotImplementedError(
f"{display_margins=} not supported for multi-trace plots")

# Compute stability margins for the system
margins = stability_margins(response, method=margins_method)
gm, pm, Wcg, Wcp = (margins[i] for i in [0, 1, 3, 4])
Expand Down Expand Up @@ -844,12 +854,12 @@ def _make_line_label(response, output_index, input_index):

else:
# Put the title underneath the suptitle (one line per system)
ax = ax_mag if ax_mag else ax_phase
axes_title = ax.get_title()
ax_ = ax_mag if ax_mag else ax_phase
axes_title = ax_.get_title()
if axes_title is not None and axes_title != "":
axes_title += "\n"
with plt.rc_context(rcParams):
ax.set_title(
ax_.set_title(
axes_title + f"{sysname}: "
"Gm = %.2f %s(at %.2f %s), "
"Pm = %.2f %s (at %.2f %s)" %
Expand Down
57 changes: 57 additions & 0 deletions control/tests/freqplot_test.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
# freqplot_test.py - test out frequency response plots
# RMM, 23 Jun 2023

import re
import matplotlib as mpl
import matplotlib.pyplot as plt
import numpy as np
Expand Down Expand Up @@ -597,6 +598,12 @@ def test_suptitle():
TypeError, match="unexpected keyword|no property"):
cplt.set_plot_title("New title", unknown=None)

# Make sure title is still there if we display margins underneath
sys = ct.rss(2, 1, 1, name='sys')
cplt = ct.bode_plot(sys, display_margins=True)
assert re.match(r"^Bode plot for sys$", cplt.figure._suptitle._text)
assert re.match(r"^sys: Gm = .*, Pm = .*$", cplt.axes[0, 0].get_title())


@pytest.mark.parametrize("plt_fcn", [ct.bode_plot, ct.singular_values_plot])
def test_freqplot_errors(plt_fcn):
Expand All @@ -617,6 +624,7 @@ def test_freqplot_errors(plt_fcn):
with pytest.raises(ValueError, match="invalid limits"):
plt_fcn(response, omega_limits=[1e2, 1e-2])


def test_freqresplist_unknown_kw():
sys1 = ct.rss(2, 1, 1)
sys2 = ct.rss(2, 1, 1)
Expand All @@ -626,6 +634,52 @@ def test_freqresplist_unknown_kw():
with pytest.raises(AttributeError, match="unexpected keyword"):
resp.plot(unknown=True)

@pytest.mark.parametrize("nsys, display_margins, gridkw, match", [
(1, True, {}, None),
(1, False, {}, None),
(1, False, {}, None),
(1, True, {'grid': True}, None),
(1, 'overlay', {}, None),
(1, 'overlay', {'grid': True}, None),
(1, 'overlay', {'grid': False}, None),
(2, True, {}, None),
(2, 'overlay', {}, "not supported for multi-trace plots"),
(2, True, {'grid': 'overlay'}, None),
(3, True, {'grid': True}, None),
])
def test_display_margins(nsys, display_margins, gridkw, match):
sys1 = ct.tf([10], [1, 1, 1, 1], name='sys1')
sys2 = ct.tf([20], [2, 2, 2, 1], name='sys2')
sys3 = ct.tf([30], [2, 3, 3, 1], name='sys3')

sysdata = [sys1, sys2, sys3][0:nsys]

plt.figure()
if match is None:
cplt = ct.bode_plot(sysdata, display_margins=display_margins, **gridkw)
else:
with pytest.raises(NotImplementedError, match=match):
ct.bode_plot(sysdata, display_margins=display_margins, **gridkw)
return

cplt.set_plot_title(
cplt.figure._suptitle._text + f" [d_m={display_margins}, {gridkw=}")

# Make sure the grid is there if it should be
if gridkw.get('grid') or not display_margins:
assert all(
[line.get_visible() for line in cplt.axes[0, 0].get_xgridlines()])
else:
assert not any(
[line.get_visible() for line in cplt.axes[0, 0].get_xgridlines()])

# Make sure margins are displayed
if display_margins == True:
ax_title = cplt.axes[0, 0].get_title()
assert len(ax_title.split('\n')) == nsys
elif display_margins == 'overlay':
assert cplt.axes[0, 0].get_title() == ''


if __name__ == "__main__":
#
Expand Down Expand Up @@ -680,3 +734,6 @@ def test_freqresplist_unknown_kw():
# of them for use in the documentation).
#
test_mixed_systypes()
test_display_margins(2, True, {})
test_display_margins(2, 'overlay', {})
test_display_margins(2, True, {'grid': True})
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