more comprehensive system construction tests

sawyerbfuller · sawyerbfuller · commit 9b3dd7cd46eb · 2021-11-04T22:16:20.000-07:00
diff --git a/control/sisotool.py b/control/sisotool.py
@@ -185,7 +185,7 @@ def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
 def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
                            Kp0=0, Ki0=0, Kd0=0, tau=0.01,
                            C_ff=0, derivative_in_feedback_path=False,
-                           noplot=False):
+                           plot=True):
     """Manual PID controller design based on root locus using Sisotool
 
     Uses `Sisotool` to investigate the effect of adding or subtracting an
@@ -262,7 +262,8 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
     derivative_in_feedback_path : bool (optional)
         Whether to place the derivative term in feedback transfer function
         `C_b` instead of the forward transfer function `C_f`.
-    noplot : bool (optional)
+    plot : bool (optional)
+        Whether to create Sisotool interactive plot.
 
     Returns
     ----------
@@ -328,6 +329,6 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
                             C_ff, e_summer, u_summer),
                             inplist=['input', input_signal],
                             outlist=['output', 'y'])
-    if ~noplot:
+    if plot:
         sisotool(loop, kvect=(0.,))
     return _convert_to_statespace(loop[1, 1])
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -151,18 +151,26 @@ def plant(self, request):
             'syscont221':StateSpace([[-.3, 0],[1,0]],[[-1,],[.1,]], [0, -.3], 0)}
         return plants[request.param]
 
-    # check
-    # cont or discrete, vary P I or D
-#    @pytest.mark.parametrize('plant', (syscont, sysdisc1))
-    @pytest.mark.parametrize('plant', ('syscont', 'sysdisc1'), indirect=True)
+    # test permutations of system construction without plotting
+    @pytest.mark.parametrize('plant', ('syscont', 'sysdisc1', 'syscont221'), indirect=True)
     @pytest.mark.parametrize('gain', ('P', 'I', 'D'))
-    @pytest.mark.parametrize("kwargs", [{'Kp0':0.1, 'noplot':True},])
-    def test_pid_designer_1(self, plant, gain, kwargs):
-        rootlocus_pid_designer(plant, gain, **kwargs)
-
+    @pytest.mark.parametrize('sign', (1,))
+    @pytest.mark.parametrize('input_signal', ('r', 'd'))
+    @pytest.mark.parametrize('Kp0', (0,))
+    @pytest.mark.parametrize('Ki0', (1.,))
+    @pytest.mark.parametrize('Kd0', (0.1,))
+    @pytest.mark.parametrize('tau', (0.01,))
+    @pytest.mark.parametrize('C_ff', (0, 1,))
+    @pytest.mark.parametrize('derivative_in_feedback_path', (True, False,))
+    @pytest.mark.parametrize("kwargs", [{'plot':False},])
+    def test_pid_designer_1(self, plant, gain, sign, input_signal, Kp0, Ki0, Kd0, tau, C_ff,
+            derivative_in_feedback_path, kwargs):
+        rootlocus_pid_designer(plant, gain, sign, input_signal, Kp0, Ki0, Kd0, tau, C_ff,
+            derivative_in_feedback_path, **kwargs)
+
+    # test creation of sisotool plot
     # input from reference or disturbance
     @pytest.mark.parametrize('plant', ('syscont', 'syscont221'), indirect=True)
-#    @pytest.mark.parametrize('plant', (syscont, syscont221))
     @pytest.mark.parametrize("kwargs", [
         {'input_signal':'r', 'Kp0':0.01, 'derivative_in_feedback_path':True},
         {'input_signal':'d', 'Kp0':0.01, 'derivative_in_feedback_path':True},])
