10BC0 documentation updates for 0.10.2 release · python-control/python-control@dd3d4d0 · GitHub
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murrayrmmurrayrm
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documentation updates for 0.10.2 release
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‎control/margins.py‎

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -536,10 +536,12 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
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1D array of (non-negative) frequencies (rad/s) at which
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to evaluate the disk-based stability margins.
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skew : float or array_like, optional
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skew parameter(s) for disk margin (default = 0.0).
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skew = 0.0 "balanced" sensitivity function 0.5*(S - T).
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skew = 1.0 sensitivity function S.
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skew = -1.0 complementary sensitivity function T.
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Skew parameter(s) for disk margin (default = 0.0):
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* skew = 0.0 "balanced" sensitivity function 0.5*(S - T)
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* skew = 1.0 sensitivity function S
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* skew = -1.0 complementary sensitivity function T
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returnall : bool, optional
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If True, return frequency-dependent margins.
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If False (default), return worst-case (minimum) margins.
@@ -553,7 +555,7 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
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DPM : float or array_like
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Disk-based phase margin.
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Example
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Examples
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--------
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>> omega = np.logspace(-1, 3, 1001)
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>> P = control.ss([[0, 10], [-10, 0]], np.eye(2), [[1, 10],

‎control/pzmap.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -129,7 +129,7 @@ def replot(self, cplt: ControlPlot):
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Parameters
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----------
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cplt: ControlPlot
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cplt : `ControlPlot`
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Graphics handles of the existing plot.
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"""
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pole_zero_replot(self, cplt)

‎control/tests/margin_test.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -384,7 +384,7 @@ def test_siso_disk_margin():
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# Balanced (S - T) disk-based stability margins
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DM, DGM, DPM = disk_margins(L, omega, skew=0.0)
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assert_allclose([DM], [0.46], atol=0.1) # disk margin of 0.46
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assert_allclose([DGM], [4.05], atol=0.1) # disk-based gain margin of 4.05 dB
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assert_allclose([DGM], [4.05], atol=0.1) # disk-based gain margin of 4.05 dB
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assert_allclose([DPM], [25.8], atol=0.1) # disk-based phase margin of 25.8 deg
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# For SISO systems, the S-based (S) disk margin should match the third output
@@ -408,13 +408,13 @@ def test_mimo_disk_margin():
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# Balanced (S - T) disk-based stability margins at plant output
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DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0)
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assert_allclose([DMo], [0.3754], atol=0.1) # disk margin of 0.3754
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assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DPMo], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg
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# Balanced (S - T) disk-based stability margins at plant input
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DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0)
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assert_allclose([DMi], [0.3754], atol=0.1) # disk margin of 0.3754
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assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DPMi], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg
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else:
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# Slycot not installed. Should throw exception.
@@ -435,7 +435,7 @@ def test_siso_disk_margin_return_all():
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atol=0.01) # sensitivity peak at 1.94 rad/s
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assert_allclose([min(DM)], [0.46], atol=0.1) # disk margin of 0.46
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assert_allclose([DGM[np.argmin(DM)]], [4.05],\
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atol=0.1) # disk-based gain margin of 4.05 dB
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atol=0.1) # disk-based gain margin of 4.05 dB
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assert_allclose([DPM[np.argmin(DM)]], [25.8],\
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atol=0.1) # disk-based phase margin of 25.8 deg
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@@ -457,7 +457,7 @@ def test_mimo_disk_margin_return_all():
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atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
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assert_allclose([min(DMo)], [0.3754], atol=0.1) # disk margin of 0.3754
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assert_allclose([DGMo[np.argmin(DMo)]], [3.3],\
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atol=0.1) # disk-based gain margin of 3.3 dB
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atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DPMo[np.argmin(DMo)]], [21.26],\
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atol=0.1) # disk-based phase margin of 21.26 deg
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@@ -468,7 +468,7 @@ def test_mimo_disk_margin_return_all():
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assert_allclose([min(DMi)], [0.3754],\
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atol=0.1) # disk margin of 0.3754
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assert_allclose([DGMi[np.argmin(DMi)]], [3.3],\
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atol=0.1) # disk-based gain margin of 3.3 dB
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atol=0.1) # disk-based gain margin of 3.3 dB
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assert_allclose([DPMi[np.argmin(DMi)]], [21.26],\
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atol=0.1) # disk-based phase margin of 21.26 deg
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else:

‎doc/examples.rst‎

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@@ -39,6 +39,7 @@ other sources.
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examples/mrac_siso_lyapunov
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examples/markov
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examples/era_msd
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examples/disk_margins
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Jupyter Notebooks
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=================

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