8000 Minor tweaks to plots in example script for readability · python-control/python-control@ba41e8c · GitHub
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josiahdelangejosiahdelange
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Minor tweaks to plots in example script for readability
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‎examples/disk_margins.py

Lines changed: 49 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -46,8 +46,9 @@ def test_siso1():
4646
plt.figure(1)
4747
plt.subplot(3,3,1)
4848
plt.semilogx(omega, DM, label='$\\alpha$')
49+
plt.ylabel('Disk Margin (abs)')
4950
plt.legend()
50-
plt.title('Disk Margin')
51+
plt.title('S-Based Margins')
5152
plt.grid()
5253
plt.xlim([omega[0], omega[-1]])
5354
plt.ylim([0, 2])
@@ -57,7 +58,7 @@ def test_siso1():
5758
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
5859
plt.ylabel('Gain Margin (dB)')
5960
plt.legend()
60-
plt.title('Gain-Only Margin')
61+
#plt.title('Gain-Only Margin')
6162
plt.grid()
6263
plt.xlim([omega[0], omega[-1]])
6364
plt.ylim([0, 40])
@@ -67,10 +68,11 @@ def test_siso1():
6768
plt.semilogx(omega, PM, label='$\\phi_{m}$')
6869
plt.ylabel('Phase Margin (deg)')
6970
plt.legend()
70-
plt.title('Phase-Only Margin')
71+
#plt.title('Phase-Only Margin')
7172
plt.grid()
7273
plt.xlim([omega[0], omega[-1]])
7374
plt.ylim([0, 90])
75+
plt.xlabel('Frequency (rad/s)')
7476

7577
print(f"------------- Complementary sensitivity function (T) -------------")
7678
DM, GM, PM = control.disk_margins(L, omega, skew = -1.0, returnall = True) # T-based (T)
@@ -83,8 +85,9 @@ def test_siso1():
8385
plt.figure(1)
8486
plt.subplot(3,3,2)
8587
plt.semilogx(omega, DM, label='$\\alpha$')
88+
plt.ylabel('Disk Margin (abs)')
8689
plt.legend()
87-
plt.title('Disk Margin')
90+
plt.title('T_Based Margins')
8891
plt.grid()
8992
plt.xlim([omega[0], omega[-1]])
9093
plt.ylim([0, 2])
@@ -94,7 +97,7 @@ def test_siso1():
9497
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
9598
plt.ylabel('Gain Margin (dB)')
9699
plt.legend()
97-
plt.title('Gain-Only Margin')
100+
#plt.title('Gain-Only Margin')
98101
plt.grid()
99102
plt.xlim([omega[0], omega[-1]])
100103
plt.ylim([0, 40])
@@ -104,10 +107,11 @@ def test_siso1():
104107
plt.semilogx(omega, PM, label='$\\phi_{m}$')
105108
plt.ylabel('Phase Margin (deg)')
106109
plt.legend()
107-
plt.title('Phase-Only Margin')
110+
#plt.title('Phase-Only Margin')
108111
plt.grid()
109112
plt.xlim([omega[0], omega[-1]])
110113
plt.ylim([0, 90])
114+
plt.xlabel('Frequency (rad/s)')
111115

112116
print(f"------------- Balanced sensitivity function (S - T) -------------")
113117
DM, GM, PM = control.disk_margins(L, omega, skew = 0.0, returnall = True) # balanced (S - T)
@@ -120,8 +124,9 @@ def test_siso1():
120124
plt.figure(1)
121125
plt.subplot(3,3,3)
122126
plt.semilogx(omega, DM, label='$\\alpha$')
127+
plt.ylabel('Disk Margin (abs)')
123128
plt.legend()
124-
plt.title('Disk Margin')
129+
plt.title('Balanced Margins')
125130
plt.grid()
126131
plt.xlim([omega[0], omega[-1]])
127132
plt.ylim([0, 2])
@@ -131,7 +136,7 @@ def test_siso1():
131136
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
132137
plt.ylabel('Gain Margin (dB)')
133138
plt.legend()
134-
plt.title('Gain-Only Margin')
139+
#plt.title('Gain-Only Margin')
135140
plt.grid()
136141
plt.xlim([omega[0], omega[-1]])
137142
plt.ylim([0, 40])
@@ -141,10 +146,11 @@ def test_siso1():
141146
plt.semilogx(omega, PM, label='$\\phi_{m}$')
142147
plt.ylabel('Phase Margin (deg)')
143148
plt.legend()
144-
plt.title('Phase-Only Margin')
149+
#plt.title('Phase-Only Margin')
145150
plt.grid()
146151
plt.xlim([omega[0], omega[-1]])
147152
plt.ylim([0, 90])
153+
plt.xlabel('Frequency (rad/s)')
148154

149155
# Disk margin plot of admissible gain/phase variations for which
150156
DM_plot = []
@@ -188,8 +194,9 @@ def test_siso2():
188194
plt.figure(2)
189195
plt.subplot(3,3,1)
190196
plt.semilogx(omega, DM, label='$\\alpha$')
197+
plt.ylabel('Disk Margin (abs)')
191198
plt.legend()
192-
plt.title('Disk Margin')
199+
plt.title('S-Based Margins')
193200
plt.grid()
194201
plt.xlim([omega[0], omega[-1]])
195202
plt.ylim([0, 2])
@@ -199,7 +206,7 @@ def test_siso2():
199206
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
200207
plt.ylabel('Gain Margin (dB)')
201208
plt.legend()
202-
plt.title('Gain-Only Margin')
209+
#plt.title('Gain-Only Margin')
203210
plt.grid()
204211
plt.xlim([omega[0], omega[-1]])
205212
plt.ylim([0, 40])
@@ -209,10 +216,11 @@ def test_siso2():
209216
plt.semilogx(omega, PM, label='$\\phi_{m}$')
210217
plt.ylabel('Phase Margin (deg)')
211218
plt.legend()
212-
plt.title('Phase-Only Margin')
219+
#plt.title('Phase-Only Margin')
213220
plt.grid()
214221
plt.xlim([omega[0], omega[-1]])
215222
plt.ylim([0, 90])
223+
plt.xlabel('Frequency (rad/s)')
216224

217225
print(f"------------- Complementary sensitivity function (T) -------------")
218226
DM, GM, PM = control.disk_margins(L, omega, skew = -1.0, returnall = True) # T-based (T)
@@ -225,8 +233,9 @@ def test_siso2():
225233
plt.figure(2)
226234
plt.subplot(3,3,2)
227235
plt.semilogx(omega, DM, label='$\\alpha$')
236+
plt.ylabel('Disk Margin (abs)')
228237
plt.legend()
229-
plt.title('Disk Margin')
238+
plt.title('T-Based Margins')
230239
plt.grid()
231240
plt.xlim([omega[0], omega[-1]])
232241
plt.ylim([0, 2])
@@ -236,7 +245,7 @@ def test_siso2():
236245
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
237246
plt.ylabel('Gain Margin (dB)')
238247
plt.legend()
239-
plt.title('Gain-Only Margin')
248+
#plt.title('Gain-Only Margin')
240249
plt.grid()
241250
plt.xlim([omega[0], omega[-1]])
242251
plt.ylim([0, 40])
@@ -246,10 +255,11 @@ def test_siso2():
246255
plt.semilogx(omega, PM, label='$\\phi_{m}$')
247256
plt.ylabel('Phase Margin (deg)')
248257
plt.legend()
249-
plt.title('Phase-Only Margin')
258+
#plt.title('Phase-Only Margin')
250259
plt.grid()
251260
plt.xlim([omega[0], omega[-1]])
252261
plt.ylim([0, 90])
262+
plt.xlabel('Frequency (rad/s)')
253263

254264
print(f"------------- Balanced sensitivity function (S - T) -------------")
255265
DM, GM, PM = control.disk_margins(L, omega, skew = 0.0, returnall = True) # balanced (S - T)
@@ -262,8 +272,9 @@ def test_siso2():
262272
plt.figure(2)
263273
plt.subplot(3,3,3)
264274
plt.semilogx(omega, DM, label='$\\alpha$')
275+
plt.ylabel('Disk Margin (abs)')
265276
plt.legend()
266-
plt.title('Disk Margin')
277+
plt.title('Balanced Margins')
267278
plt.grid()
268279
plt.xlim([omega[0], omega[-1]])
269280
plt.ylim([0, 2])
@@ -273,7 +284,7 @@ def test_siso2():
273284
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
274285
plt.ylabel('Gain Margin (dB)')
275286
plt.legend()
276-
plt.title('Gain-Only Margin')
287+
#plt.title('Gain-Only Margin')
277288
plt.grid()
278289
plt.xlim([omega[0], omega[-1]])
279290
plt.ylim([0, 40])
@@ -283,10 +294,11 @@ def test_siso2():
283294
plt.semilogx(omega, PM, label='$\\phi_{m}$')
284295
plt.ylabel('Phase Margin (deg)')
285296
plt.legend()
286-
plt.title('Phase-Only Margin')
297+
#plt.title('Phase-Only Margin')
287298
plt.grid()
288299
plt.xlim([omega[0], omega[-1]])
289300
plt.ylim([0, 90])
301+
plt.xlabel('Frequency (rad/s)')
290302

291303
# Disk margin plot of admissible gain/phase variations for which
292304
# the feedback loop still remains stable, for each skew parameter
@@ -327,8 +339,9 @@ def test_mimo():
327339
plt.figure(3)
328340
plt.subplot(3,3,1)
329341
plt.semilogx(omega, DM, label='$\\alpha$')
342+
plt.ylabel('Disk Margin (abs)')
330343
plt.legend()
331-
plt.title('Disk Margin')
344+
plt.title('S-Based Margins')
332345
plt.grid()
333346
plt.xlim([omega[0], omega[-1]])
334347
plt.ylim([0, 2])
@@ -338,7 +351,7 @@ def test_mimo():
338351
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
339352
plt.ylabel('Gain Margin (dB)')
340353
plt.legend()
341-
plt.title('Gain-Only Margin')
354+
#plt.title('Gain-Only Margin')
342355
plt.grid()
343356
plt.xlim([omega[0], omega[-1]])
344357
plt.ylim([0, 40])
@@ -348,10 +361,11 @@ def test_mimo():
348361
plt.semilogx(omega, PM, label='$\\phi_{m}$')
349362
plt.ylabel('Phase Margin (deg)')
350363
plt.legend()
351-
plt.title('Phase-Only Margin')
364+
#plt.title('Phase-Only Margin')
352365
plt.grid()
353366
plt.xlim([omega[0], omega[-1]])
354367
plt.ylim([0, 90])
368+
plt.xlabel('Frequency (rad/s)')
355369

356370
print(f"------------- Complementary sensitivity function (T) -------------")
357371
DM, GM, PM = control.disk_margins(L, omega, skew = -1.0, returnall = True) # T-based (T)
@@ -364,8 +378,9 @@ def test_mimo():
364378
plt.figure(3)
365379
plt.subplot(3,3,2)
366380
plt.semilogx(omega, DM, label='$\\alpha$')
381+
plt.ylabel('Disk Margin (abs)')
367382
plt.legend()
368-
plt.title('Disk Margin')
383+
plt.title('T-Based Margins')
369384
plt.grid()
370385
plt.xlim([omega[0], omega[-1]])
371386
plt.ylim([0, 2])
@@ -375,7 +390,7 @@ def test_mimo():
375390
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
376391
plt.ylabel('Gain Margin (dB)')
377392
plt.legend()
378-
plt.title('Gain-Only Margin')
393+
#plt.title('Gain-Only Margin')
379394
plt.grid()
380395
plt.xlim([omega[0], omega[-1]])
381396
plt.ylim([0, 40])
@@ -385,10 +400,11 @@ def test_mimo():
385400
plt.semilogx(omega, PM, label='$\\phi_{m}$')
386401
plt.ylabel('Phase Margin (deg)')
387402
plt.legend()
388-
plt.title('Phase-Only Margin')
403+
#plt.title('Phase-Only Margin')
389404
plt.grid()
390405
plt.xlim([omega[0], omega[-1]])
391406
plt.ylim([0, 90])
407+
plt.xlabel('Frequency (rad/s)')
392408

393409
print(f"------------- Balanced sensitivity function (S - T) -------------")
394410
DM, GM, PM = control.disk_margins(L, omega, skew = 0.0, returnall = True) # balanced (S - T)
@@ -401,8 +417,9 @@ def test_mimo():
401417
plt.figure(3)
402418
plt.subplot(3,3,3)
403419
plt.semilogx(omega, DM, label='$\\alpha$')
420+
plt.ylabel('Disk Margin (abs)')
404421
plt.legend()
405-
plt.title('Disk Margin')
422+
plt.title('Balanced Margins')
406423
plt.grid()
407424
plt.xlim([omega[0], omega[-1]])
408425
plt.ylim([0, 2])
@@ -412,7 +429,7 @@ def test_mimo():
412429
plt.semilogx(omega, GM, label='$\\gamma_{m}$')
413430
plt.ylabel('Gain Margin (dB)')
414431
plt.legend()
415-
plt.title('Gain-Only Margin')
432+
#plt.title('Gain-Only Margin')
416433
plt.grid()
417434
plt.xlim([omega[0], omega[-1]])
418435
plt.ylim([0, 40])
@@ -422,10 +439,11 @@ def test_mimo():
422439
plt.semilogx(omega, PM, label='$\\phi_{m}$')
423440
plt.ylabel('Phase Margin (deg)')
424441
plt.legend()
425-
plt.title('Phase-Only Margin')
442+
#plt.title('Phase-Only Margin')
426443
plt.grid()
427444
plt.xlim([omega[0], omega[-1]])
428445
plt.ylim([0, 90])
446+
plt.xlabel('Frequency (rad/s)')
429447

430448
# Disk margin plot of admissible gain/phase variations for which
431449
# the feedback loop still remains stable, for each skew parameter
@@ -439,13 +457,13 @@ def test_mimo():
439457
return
440458

441459
if __name__ == '__main__':
442-
test_siso1()
443-
test_siso2()
460+
#test_siso1()
461+
#test_siso2()
444462
test_mimo()
445463

464+
#plt.tight_layout()
446465
plt.show()
447-
plt.tight_layout()
448-
466+
449467

450468

451469

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