Merge pull request #955 from JuliaControl/bodemagnohess

add `bodemag_nohess!`

Author: baggepinnen

lib/ControlSystemsBase/src/analysis.jl

@@ -56,6 +56,8 @@ end
     count_integrators(P)
 
 Count the number of poles in the origin by finding the maximum value of `n` for which the number of poles within a circle of radius `(n+1)*eps(numeric_type(sys))^(1/n)` arount the origin (1 in discrete time) equals `n`.
+
+See also [`integrator_excess`](@ref).
 """
 function count_integrators(P::LTISystem)
     p = poles(P)

lib/ControlSystemsBase/src/freqresp.jl

@@ -339,6 +339,12 @@ function bodemag!(ws::BodemagWorkspace, sys::LTISystem, w::AbstractVector)
     ws.mag
 end
 
+function bodemag_nohess!(ws::BodemagWorkspace, sys::LTISystem, w::AbstractVector)
+    freqresp_nohess!(ws.R, sys, w)
+    @. ws.mag = abs(ws.R)
+    ws.mag
+end
+
 """
     re, im, w = nyquist(sys[, w])
 

lib/ControlSystemsBase/src/utilities.jl

@@ -34,7 +34,7 @@ to_abstract_matrix(A::AbstractVector) = reshape(A, length(A), 1)
 to_abstract_matrix(A::Number) = fill(A, 1, 1)
 
 # Do no sorting of eigenvalues
-eigvalsnosort(args...; kwargs...) = eigvals(args...; sortby=nothing, kwargs...)
+eigvalsnosort(A, args...; kwargs...)::Vector{Complex{real(float(eltype(A)))}} = eigvals(A, args...; sortby=nothing, kwargs...)
 eigvalsnosort(A::StaticArraysCore.StaticMatrix; kwargs...) =  eigvalsnosort(Matrix(A); kwargs...)
 roots(args...; kwargs...) = Polynomials.roots(args...; sortby=nothing, kwargs...)
 

lib/ControlSystemsBase/test/test_freqresp.jl

@@ -120,6 +120,7 @@ Base.isapprox(t1::Tuple, t2::Tuple) = t1[1] ≈ t2[1] && t1[2] ≈ t2[2]
 @test bode(sys, ws)[1:2] ≈ (abs.(resp), rad2deg.(angle.(resp)))
 workspace = BodemagWorkspace(sys, ws)
 @test bode(sys, ws)[1] == bodemag!(workspace, sys, ws)
+@test bode(sys, ws)[1] ≈ ControlSystemsBase.bodemag_nohess!(workspace, ss(sys), ws)
 @test nyquist(sys, ws)[1:2] ≈ (real(resp), imag(resp))
 sigs = Array{Float64}(undef, 2, 50)
 for i in eachindex(ws)

lib/ControlSystemsBase/test/test_matrix_comps.jl

@@ -1,3 +1,4 @@
+using Test, LinearAlgebra
 @testset "test_matrix_comps" begin
 A = [-0.21 0.2; 0.2 -0.21]
 B = 0.01*[1 0; 0 1]
@@ -8,7 +9,7 @@ sysr, G = balreal(sys)
 
 @test gram(sysr, :c) ≈ diagm(G)
 @test gram(sysr, :o) ≈ diagm(G)
-@test sort(poles(sysr)) ≈ sort(poles(sys))
+@test sort(poles(sysr), by=real) ≈ sort(poles(sys), by=real)
 
 sysb,T = ControlSystemsBase.balance_statespace(sys)
 @test similarity_transform(sysb, T) ≈ sys