Merge pull request #555 from sawyerbfuller/fix-stepinfo

bnavigator · web-flow · commit 92de12d48cad · 2021-03-08T16:48:59.000+01:00
fixed bug in calculation of percent overshoot
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -67,12 +67,9 @@ def test_sisotool(self, sys):
                                   initial_point_2, 4)
 
         # Check the step response before moving the point
-        # new array needed because change in compute step response default time
         step_response_original = np.array(
-            [0.    , 0.0069, 0.0448, 0.124 , 0.2427, 0.3933, 0.5653, 0.7473,
-             0.928 , 1.0969])
-        #old: np.array([0., 0.0217, 0.1281, 0.3237, 0.5797, 0.8566, 1.116,
-            # 1.3261, 1.4659, 1.526])
+            [0.    , 0.021 , 0.124 , 0.3146, 0.5653, 0.8385, 1.0969, 1.3095,
+             1.4549, 1.5231])
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_original, 4)
 
@@ -115,10 +112,9 @@ def test_sisotool(self, sys):
                                   bode_mag_moved, 4)
 
         # Check if the step response has changed
-        # new array needed because change in compute step response default time
         step_response_moved = np.array(
-            [0., 0.0072, 0.0516, 0.1554, 0.3281, 0.5681, 0.8646, 1.1987,
-             1.5452, 1.875])
+            [0.    , 0.023 , 0.1554, 0.4401, 0.8646, 1.3722, 1.875 , 2.2709,
+              2.4633, 2.3827])
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -310,6 +310,10 @@ def test_step_pole_cancellation(self, pole_cancellation,
         step_info_no_cancellation = step_info(no_pole_cancellation)
         step_info_cancellation = step_info(pole_cancellation)
         for key in step_info_no_cancellation:
+            if key == 'Overshoot':
+                # skip this test because these systems have no overshoot
+                # =>  very sensitive to parameters
+                continue
             np.testing.assert_allclose(step_info_no_cancellation[key],
                                        step_info_cancellation[key], rtol=1e-4)
 
@@ -522,7 +526,7 @@ def test_step_robustness(self):
 
     @pytest.mark.parametrize(
         "tfsys, tfinal",
-        [(TransferFunction(1, [1, .5]), 9.21034),        #  pole at 0.5
+        [(TransferFunction(1, [1, .5]), 13.81551),        #  pole at 0.5
          (TransferFunction(1, [1, .5]).sample(.1), 25),  # discrete pole at 0.5
          (TransferFunction(1, [1, .5, 0]), 25)])         # poles at 0.5 and 0
     def test_auto_generated_time_vector_tfinal(self, tfsys, tfinal):
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -792,7 +792,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
     T, yout = step_response(sys, T)
 
     # Steady state value
-    InfValue = yout[-1]
+    InfValue = sys.dcgain()
 
     # RiseTime
     tr_lower_index = (np.where(yout >= RiseTimeLimits[0] * InfValue)[0])[0]
@@ -814,7 +814,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
         'SettlingTime': SettlingTime,
         'SettlingMin': yout[tr_upper_index:].min(),
         'SettlingMax': yout.max(),
-        'Overshoot': 100. * (yout.max() - InfValue) / (InfValue - yout[0]),
+        'Overshoot': 100. * (yout.max() - InfValue) / InfValue,
         'Undershoot': yout.min(), # not very confident about this
         'Peak': yout[PeakIndex],
         'PeakTime':  T[PeakIndex],
@@ -1124,7 +1124,7 @@ def _ideal_tfinal_and_dt(sys, is_step=True):
     default_dt = 0.1
     total_cycles = 5  # number of cycles for oscillating modes
     pts_per_cycle = 25  # Number of points divide a period of oscillation
-    log_decay_percent = np.log(100)  # Factor of reduction for real pole decays
+    log_decay_percent = np.log(1000)  # Factor of reduction for real pole decays
 
     if sys._isstatic():
         tfinal = default_tfinal
