Harden governor response metrics

Copilot · web-flow · commit 128a62d1fd71 · 2026-07-01T19:20:54.000Z
diff --git a/examples/steam_engine_governor.py b/examples/steam_engine_governor.py
@@ -108,11 +108,17 @@ def summarize_response(system, time, outputs, target):
     speed = outputs[0]
     final_speed = speed[-1]
     peak_speed = np.max(speed)
+    minimum_speed = np.min(speed)
     tolerance = max(0.02 * max(abs(target), abs(final_speed)), 1e-3)
-    overshoot = 0.0 if abs(target) < 1e-9 else max(
-        0.0, (peak_speed - target) / abs(target) * 100)
+    if abs(target) < 1e-9:
+        overshoot = 0.0
+    elif target > 0:
+        overshoot = max(0.0, (peak_speed - target) / abs(target) * 100)
+    else:
+        overshoot = max(0.0, (target - minimum_speed) / abs(target) * 100)
     steady_state_error = target - final_speed
-    dominant_poles = sorted(ct.poles(system), key=lambda pole: pole.real)[-2:]
+    poles = list(ct.poles(system))
+    dominant_poles = sorted(poles, key=lambda pole: pole.real)[-min(2, len(poles)):]
     damping_ratios = []
     for pole in dominant_poles:
         magnitude = abs(pole)
