If True, plot phase in degrees (else radians)

Plot : boolean

If True, plot magnitude and phase

omega_limits: tuple, list, ... of two values

omega_limits: tuple, list, ... of two values

Limits of the to generate frequency vector.

If Hz=True the limits are in Hz otherwise in rad/s.

omega_num: int

number of samples

number of samples

*args, **kwargs:

Additional options to matplotlib (color, linestyle, etc)

# If argument was a singleton, turn it into a list

if (not getattr(syslist, '__iter__', False)):

syslist = (syslist,)

if omega is None:

if omega_limits is None:

# Select a default range if none is provided

omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), num=omega_num, endpoint=True)

else:

omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), endpoint=True)

mags, phases, omegas, nyquistfrqs = [], [], [], []

for sys in syslist:

if (sys.inputs > 1 or sys.outputs > 1):

else:

omega_sys = np.array(omega)

if sys.isdtime(True):

nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.

omega_sys = omega_sys[omega_sys < nyquistfrq]

nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.

omega_sys = omega_sys[omega_sys < nyquistfrq]

# TODO: What distance to the Nyquist frequency is appropriate?

else:

nyquistfrq = None

plt.hold(True);

if nyquistfrq_plot:

ax_mag.axvline(nyquistfrq_plot, color=pltline[0].get_color())

# Add a grid to the plot + labeling

ax_mag.grid(True, which='both')

ax_mag.set_ylabel("Magnitude (dB)" if dB else "Magnitude")

ax_phase.hold(True);

if nyquistfrq_plot:

ax_phase.axvline(nyquistfrq_plot, color=pltline[0].get_color())

# Add a grid to the plot + labeling

ax_phase.set_ylabel("Phase (deg)" if deg else "Phase (rad)")

ax_phase.set_ylabel("Phase (deg)" if deg else "Phase (rad)")

def genZeroCenteredSeries(val_min, val_max, period):

v1 = np.ceil(val_min / period - 0.2)

v2 = np.floor(val_max / period + 0.2)

return np.arange(v1, v2 + 1) * period

return np.arange(v1, v2 + 1) * period

if deg:

ylim = ax_phase.get_ylim()

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 45.))

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 45.))

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)

else:

ylim = ax_phase.get_ylim()

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))

ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 12.), minor=True)

ax_phase.grid(True, which='both')

# ax_mag.grid(which='minor', alpha=0.3)

# ax_mag.grid(which='minor', alpha=0.3)

# ax_mag.grid(which='major', alpha=0.9)

# ax_phase.grid(which='minor', alpha=0.3)

# ax_phase.grid(which='major', alpha=0.9)

# ax_phase.grid(which='minor', alpha=0.3)

# ax_phase.grid(which='major', alpha=0.9)

# Label the frequency axis

ax_phase.set_xlabel("Frequency (Hz)" if Hz else "Frequency (rad/sec)")

ax_phase.set_xlabel("Frequency (Hz)" if Hz else "Frequency (rad/sec)")

if len(syslist) == 1:

return mags[0], phases[0], omegas[0]

else:

# instead of 1.0, and this would otherwise be

# truncated to 0.

plt.text(xpt, ypt,

' ' + str(int(np.round(f / 1000 ** pow1000, 0))) +

' ' + str(int(np.round(f / 1000 ** pow1000, 0))) +

' ' + prefix + 'Hz')

return x, y, omega

syslist : list of LTI

List of linear input/output systems (single system is OK)

Hz: boolean

If True, the limits (first and last value) of the frequencies

are set to full decades in Hz so it fits plotting with logarithmic

If True, the limits (first and last value) of the frequencies

are set to full decades in Hz so it fits plotting with logarithmic

scale in Hz otherwise in rad/s. Omega is always returned in rad/sec.

number_of_samples: int

Number of samples to generate

feature_periphery_decade: float

Defines how many decades shall be included in the frequency range on

both sides of features (poles, zeros).

Defines how many decades shall be included in the frequency range on

both sides of features (poles, zeros).

Example: If there is a feature, e.g. a pole, at 1Hz and feature_periphery_decade=1.

then the range of frequencies shall span 0.1 .. 10 Hz.

then the range of frequencies shall span 0.1 .. 10 Hz.

The default value is read from config.bode_feature_periphery_decade.

Returns

-------

omega : array

# Set default values for options

from . import config

if (number_of_samples is None):

if (number_of_samples is None):

number_of_samples = config.bode_number_of_samples

if (feature_periphery_decade is None):

feature_periphery_decade = config.bode_feature_periphery_decade

if (feature_periphery_decade is None):

feature_periphery_decade = config.bode_feature_periphery_decade

# Find the list of all poles and zeros in the systems

features = np.array(())

freq_interesting = []

freq_interesting = []

# detect if single sys passed by checking if it is sequence-like

if (not getattr(syslist, '__iter__', False)):

# Add new features to the list

if sys.isctime():

features_ = np.concatenate((np.abs(sys.pole()),

np.abs(sys.zero())))

np.abs(sys.zero())))

# Get rid of poles and zeros at the origin

features_ = features_[features_ != 0.0];

features = np.concatenate((features, features_))

elif sys.isdtime(strict=True):

fn = np.pi * 1. / sys.dt

# TODO: What distance to the Nyquist frequency is appropriate?

# TODO: What distance to the Nyquist frequency is appropriate?

freq_interesting.append(fn * 0.9)

features_ = np.concatenate((sys.pole(),

sys.zero()))

# Get rid of poles and zeros

sys.zero()))

# Get rid of poles and zeros

# * at the origin and real <= 0 & imag==0: log!

# * at 1.: would result in omega=0. (logaritmic plot!)

features_ = features_[(features_.imag != 0.0) | (features_.real > 0.)]

features_ = features_[np.bitwise_not((features_.imag == 0.0) & (np.abs(features_.real - 1.0) < 1.e-10))]

# TODO: improve

features__ = np.abs(np.log(features_) / (1.j * sys.dt))

features = np.concatenate((features, features__))

features = np.concatenate((features, features__))

else:

# TODO

raise NotImplementedError('type of system in not implemented now')

raise NotImplementedError('type of system in not implemented now')

except:

pass

# Make sure there is at least one point in the range

if (features.shape[0] == 0):

if (features.shape[0] == 0):

features = np.array([1.]);

if Hz: