8000 add yfinal parameter to step_info · python-control/python-control@6587f69 · GitHub
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add yfinal parameter to step_info
1 parent 43d73f0 commit 6587f69

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2 files changed

+35
-16
lines changed

2 files changed

+35
-16
lines changed

‎control/tests/timeresp_test.py

Lines changed: 23 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -451,6 +451,15 @@ def assert_step_info_match(self, sys, info, info_ref):
451451
# local min/max peak well after signal has risen
452452
np.testing.assert_allclose(info[k], info_ref[k], rtol=1e-3)
453453

454+
@pytest.mark.parametrize(
455+
"yfinal", [True, False], ids=["yfinal", "no yfinal"])
456+
@pytest.mark.parametrize(
457+
"systype, time_2d",
458+
[("ltisys", False),
459+
("time response", False),
460+
("time response", True),
461+
],
462+
ids=["ltisys", "time response (n,)", "time response (1,n)"])
454463
@pytest.mark.parametrize(
455464
"tsystem",
456465
["siso_tf_step_matlab",
@@ -459,16 +468,10 @@ def assert_step_info_match(self, sys, info, info_ref):
459468
"siso_tf_kneg",
460469
"siso_tf_type1"],
461470
indirect=["tsystem"])
462-
@pytest.mark.parametrize(
463-
"systype, time_2d",
464-
[("lti", False),
465-
("time response data", False),
466-
("time response data", True),
467-
])
468-
def test_step_info(self, tsystem, systype, time_2d):
471+
def test_step_info(self, tsystem, systype, time_2d, yfinal):
469472
"""Test step info for SISO systems."""
470473
step_info_kwargs = tsystem.kwargs.get('step_info', {})
471-
if systype == "time response data":
474+
if systype == "time response":
472475
# simulate long enough for steady state value
473476
tfinal = 3 * tsystem.step_info['SettlingTime']
474477
if 10000 np.isnan(tfinal):
@@ -478,29 +481,37 @@ def test_step_info(self, tsystem, systype, time_2d):
478481
step_info_kwargs['T'] = t[np.newaxis, :] if time_2d else t
479482
else:
480483
sysdata = tsystem.sys
484+
if yfinal:
485+
step_info_kwargs['yfinal'] = tsystem.step_info['SteadyStateValue']
481486

482487
info = step_info(sysdata, **step_info_kwargs)
483488

484489
self.assert_step_info_match(tsystem.sys, info, tsystem.step_info)
485490

491+
@pytest.mark.parametrize(
492+
"yfinal", [True, False], ids=["yfinal", "no_yfinal"])
493+
@pytest.mark.parametrize(
494+
"systype", ["ltisys", "time response"])
486495
@pytest.mark.parametrize(
487496
"tsystem",
488497
['mimo_ss_step_matlab',
489498
pytest.param('mimo_tf_step', marks=slycotonly)],
490499
indirect=["tsystem"])
491-
@pytest.mark.parametrize(
492-
"systype", ["lti", "time response data"])
493-
def test_step_info_mimo(self, tsystem, systype):
500+
def test_step_info_mimo(self, tsystem, systype, yfinal):
494501
"""Test step info for MIMO systems."""
495502
step_info_kwargs = tsystem.kwargs.get('step_info', {})
496-
if systype == "time response data":
503+
if systype == "time response":
497504
tfinal = 3 * max([S['SettlingTime']
498505
for Srow in tsystem.step_info for S in Srow])
499506
t, y = step_response(tsystem.sys, T=tfinal, T_num=5000)
500507
sysdata = y
501508
step_info_kwargs['T'] = t
502509
else:
503510
sysdata = tsystem.sys
511+
if yfinal:
512+
step_info_kwargs['yfinal'] = [[S['SteadyStateValue']
513+
for S in Srow]
514+
for Srow in tsystem.step_info]
504515

505516
info_dict = step_info(sysdata, **step_info_kwargs)
506517

‎control/timeresp.py

Lines changed: 12 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -734,8 +734,8 @@ def step_response(sys, T=None, X0=0., input=None, output=None, T_num=None,
734734
squeeze=squeeze, input=input, output=output)
735735

736736

737-
def step_info(sysdata, T=None, T_num=None, SettlingTimeThreshold=0.02,
738-
RiseTimeLimits=(0.1, 0.9)):
737+
def step_info(sysdata, T=None, T_num=None, yfinal=None,
738+
SettlingTimeThreshold=0.02, RiseTimeLimits=(0.1, 0.9)):
739739
"""
740740
Step response characteristics (Rise time, Settling Time, Peak and others).
741741
@@ -752,6 +752,11 @@ def step_info(sysdata, T=None, T_num=None, SettlingTimeThreshold=0.02,
752752
Number of time steps to use in simulation if T is not provided as an
753753
array; autocomputed if not given; ignored if sysdata is a
754754
discrete-time system or a time series or response data.
755+
yfinal: scalar or array_like, optional
756+
Steady-state response. If not given, sysdata.dcgain() is used for
757+
systems to simulate and the last value of the the response data is
758+
used for a given time series of response data. Scalar for SISO,
759+
(noutputs, ninputs) array_like for MIMO systems.
755760
SettlingTimeThreshold : float value, optional
756761
Defines the error to compute settling time (default = 0.02)
757762
RiseTimeLimits : tuple (lower_threshold, upper_theshold)
@@ -838,7 +843,10 @@ def step_info(sysdata, T=None, T_num=None, SettlingTimeThreshold=0.02,
838843
if T is None or np.asarray(T).size == 1:
839844
T = _default_time_vector(sysdata, N=T_num, tfinal=T, is_step=True)
840845
T, Yout = step_response(sysdata, T, squeeze=False)
841-
InfValues = np.atleast_2d(sysdata.dcgain())
846+
if yfinal:
847+
InfValues = np.atleast_2d(yfinal)
848+
else:
849+
InfValues = np.atleast_2d(sysdata.dcgain())
842850
retsiso = sysdata.issiso()
843851
noutputs = sysdata.noutputs
844852
ninputs = sysdata.ninputs
@@ -864,7 +872,7 @@ def step_info(sysdata, T=None, T_num=None, SettlingTimeThreshold=0.02,
864872
T = np.squeeze(T)
865873
noutputs = Yout.shape[0]
866874
ninputs = Yout.shape[1]
867-
InfValues = Yout[:, :, -1]
875+
InfValues = np.atleast_2d(yfinal) if yfinal else Yout[:, :, -1]
868876

869877
ret = []
870878 for i in range(noutputs):

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