plotstr_rlocus='C0', rlocus_grid=False, omega=None, dB=None,

Hz=None, deg=None, omega_limits=None, omega_num=None,

margins_bode=True, tvect=None, kvect=None):

"""

Sisotool style collection of plots inspired by MATLAB's sisotool.

"""Sisotool style collection of plots inspired by MATLAB's sisotool.

The left two plots contain the bode magnitude and phase diagrams.

The top right plot is a clickable root locus plot, clicking on the

root locus will change the gain of the system. The bottom left plot

Parameters

----------

sys : LTI object

Linear input/output systems. If sys is SISO, use the same

system for the root locus and step response. If it is desired to

see a different step response than feedback(K*sys,1), such as a

disturbance response, sys can be provided as a two-input, two-output

system (e.g. by using :func:`bdgalg.connect' or

:func:`iosys.interconnect`). For two-input, two-output

system, sisotool inserts the negative of the selected gain K between

the first output and first input and uses the second input and output

for computing the step response. To see the disturbance response,

configure your plant to have as its second input the disturbance input.

To view the step response with a feedforward controller, give your

plant two identical inputs, and sum your feedback controller and your

feedforward controller and multiply them into your plant's second

input. It is also possible to accomodate a system with a gain in the

feedback.

Linear input/output systems. If sys is SISO, use the same system for

the root locus and step response. If it is desired to see a different

step response than feedback(K*sys,1), such as a disturbance response,

sys can be provided as a two-input, two-output system (e.g. by using

:func:`bdgalg.connect' or :func:`iosys.interconnect`). For two-input,

two-output system, sisotool inserts the negative of the selected gain

K between the first output and first input and uses the second input

and output for computing the step response. To see the disturbance

response, configure your plant to have as its second input the

disturbance input. To view the step response with a feedforward

controller, give your plant two identical inputs, and sum your

feedback controller and your feedforward controller and multiply them

into your plant's second input. It is also possible to accomodate a

system with a gain in the feedback.

initial_gain : float, optional

Initial gain to use for plotting root locus. Defaults to 1

(config.defaults['sisotool.initial_gain']).

xlim_rlocus : tuple or list, optional

control of x-axis range, normally with tuple

Control of x-axis range, normally with tuple

(see :doc:`matplotlib:api/axes_api`).

ylim_rlocus : tuple or list, optional

control of y-axis range

plotstr_rlocus : :func:`matplotlib.pyplot.plot` format string, optional

plotting style for the root locus plot(color, linestyle, etc)

Plotting style for the root locus plot(color, linestyle, etc).

rlocus_grid : boolean (default = False)

If True plot s- or z-plane grid.

omega : array_like

List of frequencies in rad/sec to be used for bode plot

List of frequencies in rad/sec to be used for bode plot.

dB : boolean

If True, plot result in dB for the bode plot

If True, plot result in dB for the bode plot.

Hz : boolean

If True, plot frequency in Hz for the bode plot (omega must be provided in rad/sec)

If True, plot frequency in Hz for the bode plot (omega must be

provided in rad/sec).

deg : boolean

If True, plot phase in degrees for the bode plot (else radians)

If True, plot phase in degrees for the bode plot (else radians).

omega_limits : array_like of two values

Limits of the to generate frequency vector.

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

is provided, and auto-generated if omitted.

Limits of the to generate frequency vector. If Hz=True the limits

are in Hz otherwise in rad/s. Ignored if omega is provided, and

auto-generated if omitted.

omega_num : int

Number of samples to plot. Defaults to

config.defaults['freqplot.number_of_samples'].

margins_bode : boolean

If True, plot gain and phase margin in the bode plot

If True, plot gain and phase margin in the bode plot.

tvect : list or ndarray, optional

List of timesteps to use for closed loop step response

List of timesteps to use for closed loop step response.

Examples

--------

plot=True):

"""Manual PID controller design based on root locus using Sisotool

Uses `Sisotool` to investigate the effect of adding or subtracting an

Uses `sisotool` to investigate the effect of adding or subtracting an

amount `deltaK` to the proportional, integral, or derivative (PID) gains of

a controller. One of the PID gains, `Kp`, `Ki`, or `Kd`, respectively, can

be modified at a time. `Sisotool` plots the step response, frequency

Parameters

----------

plant : :class:`LTI` (:class:`TransferFunction` or :class:`StateSpace` system)

The dynamical system to be controlled

The dynamical system to be controlled.

gain : string (optional)

Which gain to vary by `deltaK`. Must be one of `'P'`, `'I'`, or `'D'`

(proportional, integral, or derative)

(proportional, integral, or derative).

sign : int (optional)

The sign of deltaK gain perturbation

The sign of deltaK gain perturbation.

input : string (optional)

The input used for the step response; must be `'r'` (reference) or

`'d'` (disturbance) (see figure above)

`'d'` (disturbance) (see figure above).

Kp0, Ki0, Kd0 : float (optional)

Initial values for proportional, integral, and derivative gains,

respectively

respectively.

deltaK : float (optional)

Perturbation value for gain specified by the `gain` keywoard.

tau : float (optional)

closedloop : class:`StateSpace` system

The closed-loop system using initial gains.

Notes

-----

When running using iPython or Jupyter, use `%matplotlib` to configure

the session for interactive support.

"""

if plant.ninputs == 1: