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control.singular_values_plot — Python Control Systems Library 0.10.2 documentation

control.singular_values_plot(data, omega=None, *fmt, plot=None, omega_limits=None, omega_num=None, ax=None, label=None, title=None, **kwargs)[source]

Plot the singular values for a system.

Plot the singular values as a function of frequency for a system or list of systems. If multiple systems are plotted, each system in the list is plotted in a different color.

Parameters:

datalist of FrequencyResponseData

List of FrequencyResponseData objects. For backward compatibility, a list of LTI systems can also be given.

omegaarray_like

List of frequencies in rad/sec over to plot over.

*fmtmatplotlib.pyplot.plot format string, optional

Passed to matplotlib as the format string for all lines in the plot. The omega parameter must be present (use omega=None if needed).

dBbool

If True, plot result in dB. Default is False.

Hzbool

If True, plot frequency in Hz (omega must be provided in rad/sec). Default value (False) set by config.defaults['freqplot.Hz'].

**kwargsmatplotlib.pyplot.plot keyword properties, optional

Additional keywords passed to matplotlib to specify line properties.

Returns:

cpltControlPlot object

Object containing the data that were plotted. See ControlPlot for more detailed information.

cplt.linesarray of matplotlib.lines.Line2D

Array containing information on each line in the plot. The size of the array matches the number of systems and the value of the array is a list of Line2D objects for that system.

cplt.axes2D array of matplotlib.axes.Axes

Axes for each subplot.

cplt.figurematplotlib.figure.Figure

Figure containing the plot.

cplt.legend2D array of matplotlib.legend.Legend

Legend object(s) contained in the plot.

Other Parameters:

axmatplotlib.axes.Axes, optional

The matplotlib axes to draw the figure on. If not specified and the current figure has a single axes, that axes is used. Otherwise, a new figure is created.

colormatplotlib color spec

Color to use for singular values (or None for matplotlib default).

gridbool

If True, plot grid lines on gain and phase plots. Default is set by config.defaults['freqplot.grid'].

labelstr or array_like of str, optional

If present, replace automatically generated label(s) with the given label(s). If sysdata is a list, strings should be specified for each system.

legend_locint or str, optional

Include a legend in the given location. Default is ‘center right’, with no legend for a single response. Use False to suppress legend.

omega_limitsarray_like of two values

Set limits for plotted frequency range. If Hz=True the limits are in Hz otherwise in rad/s. Specifying omega as a list of two elements is equivalent to providing omega_limits.

omega_numint, optional

Number of samples to use for the frequency range. Defaults to config.defaults['freqplot.number_of_samples']. Ignored if data is not a list of systems.

plotbool, optional

(legacy) If given, singular_values_plot returns the legacy return values of magnitude, phase, and frequency. If False, just return the values with no plot.

rcParamsdict

Override the default parameters used for generating plots. Default is set up config.defaults['ctrlplot.rcParams'].

show_legendbool, optional

Force legend to be shown if True or hidden if False. If None, then show legend when there is more than one line on an axis or legend_loc or legend_map has been specified.

titlestr, optional

Set the title of the plot. Defaults to plot type and system name(s).

title_framestr, optional

Set the frame of reference used to center the plot title. If set to ‘axes’ (default), the horizontal position of the title will centered relative to the axes. If set to ‘figure’, it will be centered with respect to the figure (faster execution).

Notes

If plot = False, the following legacy values are returned:

• magndarray (or list of ndarray if len(data) > 1))

  Magnitude of the response (deprecated).

• phasendarray (or list of ndarray if len(data) > 1))

  Phase in radians of the response (deprecated).

• omegandarray (or list of ndarray if len(data) > 1))

  Frequency in rad/sec (deprecated).

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