updated plot limits, travis and documentation plots

Author: mfalt

.travis.yml

@@ -6,5 +6,5 @@ notifications:
     email: false
 after_success:
     - julia -e 'using Pkg; import ControlSystems; cd(joinpath(dirname(pathof(ControlSystems)), "..")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())'
-    - julia -e 'using Pkg; Pkg.add("Documenter")'
+    - julia -e 'using Pkg; Pkg.add("Documenter"); Pkg.add("GR"); Pkg.add("Plots"); Pkg.add("DSP")'
     - julia -e 'using Pkg; import ControlSystems; cd(joinpath(dirname(pathof(ControlSystems)), "..")); include(joinpath("docs", "make.jl"))'

docs/make.jl

@@ -1,4 +1,4 @@
-using Documenter, ControlSystems, Plots
+using Documenter, ControlSystems, Plots, LinearAlgebra, DSP
 import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
 
 include("src/makeplots.jl")
@@ -23,6 +23,6 @@ end
 deploydocs(
     repo = "github.com/JuliaControl/ControlSystems.jl.git",
     latest = "master",
-    julia = "0.6",
+    julia = "1.0",
     deps = myDeps
 )

docs/src/makeplots.jl

@@ -16,7 +16,7 @@ Q = Matrix{Float64}(I,2,2)
 R = Matrix{Float64}(I,1,1)
 L = dlqr(A,B,Q,R) # lqr(sys,Q,R) can also be used
 
-u(x,t)  = -L*x + 1.5(t>=2.5)# Form control law (u is a function of t and x), a constant input disturbance is affecting the system from t≧2.5
+u(x,t)  = -L*x .+ 1.5(t>=2.5)# Form control law (u is a function of t and x), a constant input disturbance is affecting the system from t≧2.5
 t=0:h:5
 x0 = [1,0]
 y, t, x, uout = lsim(sys,u,t,x0=x0)
@@ -71,7 +71,7 @@ Plots.savefig(plotsDir*"/ppgofplot.svg")
 
 P1(s) = exp(-sqrt(s))
 f1 = stabregionPID(P1,exp10.(range(-5, stop=1, length=1000))); Plots.savefig(plotsDir*"/stab1.svg")
-P2 = s -> 100*(s+6).^2./(s.*(s+1).^2.*(s+50).^2)
+P2 = s -> 100*(s+6).^2 ./(s.*(s+1).^2 .*(s+50).^2)
 f2 = stabregionPID(P2,exp10.(range(-5, stop=2, length=1000))); Plots.savefig(plotsDir*"/stab2.svg")
 P3 = tf(1,[1,1])^4
 f3 = stabregionPID(P3,exp10.(range(-5, stop=0, length=1000))); Plots.savefig(plotsDir*"/stab3.svg")
@@ -84,15 +84,15 @@ f3 = stabregionPID(P3,exp10.(range(-5, stop=0, length=1000))); Plots.savefig(plo
 P = tf([1.],[1., 1])
 ζ = 0.5 # Desired damping
 ws = exp10.(range(-1, stop=2, length=8)) # A vector of closed-loop bandwidths
-kp = 2*ζ*ws-1 # Simple pole placement with PI given the closed-loop bandwidth, the poles are placed in a butterworth pattern
+kp = 2*ζ*ws.-1 # Simple pole placement with PI given the closed-loop bandwidth, the poles are placed in a butterworth pattern
 ki = ws.^2
 pidplots(P,:nyquist,;kps=kp,kis=ki, ω= exp10.(range(-2, stop=2, length=500)))
 Plots.savefig(plotsDir*"/pidplotsnyquist1.svg")
 pidplots(P,:gof,;kps=kp,kis=ki, ω= exp10.(range(-2, stop=2, length=500)))
 Plots.savefig(plotsDir*"/pidplotgof1.svg")
 
 kp = range(-1, stop=1, length=8) # Now try a different strategy, where we have specified a gain crossover frequency of 0.1 rad/s
-ki = sqrt.(1-kp.^2)./10
+ki = sqrt.(1 .-kp.^2)./10
 pidplots(P,:nyquist,;kps=kp,kis=ki)
 Plots.savefig(plotsDir*"/pidplotsnyquist2.svg")
 pidplots(P,:gof,;kps=kp,kis=ki)

src/matrix_comps.jl

@@ -12,9 +12,9 @@ function care(A, B, Q, R)
         B*inv(R)*B'
     catch y
         if y isa SingularException
-            error("R must be non-singular.")
+            error("R must be non-singular in care.")
         else
-            throw(t)
+            throw(y)
         end
     end
 

src/plotting.jl

@@ -38,11 +38,25 @@ function setPlotScale(str::AbstractString)
     _PlotScale, _PlotScaleFunc, _PlotScaleStr = plotSettings
 end
 
-function getLogTicks(x)
+"""
+Get atributes from xlims or ylims
+default to extrema(wmag) if xlims/ylims not defined or empty
+"""
+function getlims(xylims, plotattributes, wmag)
+    lims = get(plotattributes, xylims, extrema(wmag))
+    if lims isa Tuple{<:Number, <:Number} # If x/ylims not supplied as empty
+        return lims
+    else
+        return extrema(wmag)
+    end
+end
+
+function getLogTicks(x, minmax)
+    minx, maxx =  minmax
     major_minor_limit = 6
     minor_text_limit  = 8
-    min               = ceil(log10(minimum(x)))
-    max               = floor(log10(maximum(x)))
+    min               = ceil(log10(minx))
+    max               = floor(log10(maxx))
     major             = 10 .^ collect(min:max)
     if Plots.backend() != Plots.GRBackend()
         majorText = [latexstring("\$10^{$(round(Int64,i))}\$") for i = min:max]
@@ -57,7 +71,7 @@ function getLogTicks(x)
             minorText = ["$j*10^{$(round(Int64,i))}" for i = (min-1):(max+1) for j = 2:9]
         end
 
-        ind       = findall(minimum(x) .<= minor .<= maximum(x))
+        ind       = findall(minx .<= minor .<= maxx)
         minor     = minor[ind]
         minorText = minorText[ind]
         if length(minor) > minor_text_limit
@@ -205,7 +219,7 @@ optionally provided.
 `kwargs` is sent as argument to Plots.plot."""
 bodeplot
 
-@recipe function bodeplot(p::Bodeplot; plotphase=true)
+@recipe function bodeplot(p::Bodeplot; plotphase=true, ylimsphase=())
     systems = p.args[1]
     if !isa(systems, AbstractArray)
         systems = typeof(systems)[systems]
@@ -222,7 +236,7 @@ bodeplot
     s2i(i,j) = LinearIndices((nu,(plotphase ? 2 : 1)*ny))[j,i]
     layout --> ((plotphase ? 2 : 1)*ny,nu)
     nw = length(w)
-    xticks --> getLogTicks(w)
+    xticks --> getLogTicks(w, getlims(:xlims, plotattributes, w))
 
     for (si,s) = enumerate(systems)
         mag, phase = bode(s, w)[1:2]
@@ -246,7 +260,7 @@ bodeplot
                     yscale    --> _PlotScaleFunc
                     xscale    --> :log10
                     if _PlotScale != "dB"
-                        yticks    --> getLogTicks(magdata)
+                        yticks    --> getLogTicks(magdata, getlims(:ylims, plotattributes, magdata))
                     end
                     xguide    --> xlab
                     yguide    --> "Magnitude $_PlotScaleStr"
@@ -260,9 +274,11 @@ bodeplot
                 if !plotphase
                     continue
                 end
+
                 @series begin
                     grid      --> true
                     xscale    --> :log10
+                    ylims      := ylimsphase
                     yguide    --> "Phase (deg)"
                     subplot --> s2i(2i,j)
                     xguide    --> "Frequency (rad/s)"
@@ -287,8 +303,8 @@ end
         yscale --> :log10
         xscale --> :log10
         yguide --> "Magnitude"
-        xticks --> getLogTicks(w)
-        yticks --> getLogTicks(magdata)
+        xticks --> getLogTicks(w,  getlims(:xlims, plotattributes, w))
+        yticks --> getLogTicks(magdata,  getlims(:ylims, plotattributes, magdata))
         x := w; y := magdata
         ()
     end
@@ -306,7 +322,7 @@ end
         xscale --> :log10
         yguide --> "Phase (deg)"
         xguide --> "Frequency (rad/s)"
-        xticks --> getLogTicks(w)
+        xticks --> getLogTicks(w, getlims(:xlims, plotattributes, w))
         x := w; y := phasedata
         ()
     end