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JuliaControl / ControlSystems.jl

A Control Systems Toolbox for Julia
https://juliacontrol.github.io/ControlSystems.jl/stable/
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Rlocusplot with zero excess #611

Closed baggepinnen closed 2 years ago

baggepinnen commented 2 years ago

Integrator initialized with too few poles due to k=0

ronisbr commented 2 years ago

MWE:

julia> G = zpk([-1,-5],[-2], 1)
TransferFunction{Continuous, ControlSystems.SisoZpk{Int64, Int64}}
 (s + 1)(s + 5)
1--------------
     s + 2

Continuous-time transfer function model

julia> rlocus(G)
ERROR: DimensionMismatch("dimensions must match: a has dims (Base.OneTo(2),), b has dims (Base.OneTo(1),), mismatch at 1")
Stacktrace:
  [1] promote_shape
    @ ./indices.jl:178 [inlined]
  [2] promote_shape
    @ ./indices.jl:169 [inlined]
  [3] +(A::Vector{ComplexF64}, Bs::Vector{ComplexF64})
    @ Base ./arraymath.jl:45
  [4] muladd
    @ ./math.jl:1160 [inlined]
  [5] perform_step!(integrator::OrdinaryDiffEq.ODEIntegrator{OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, false, Vector{ComplexF64}, Nothing, Float64, SciMLBase.NullParameters, Float64, Float64, Float64, Float64, Vector{Vector{ComplexF64}}, SciMLBase.ODESolution{ComplexF64, 2, Vector{Vector{ComplexF64}}, Nothing, Nothing, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, SciMLBase.ODEProblem{Vector{ComplexF64}, Tuple{Float64, Float64}, false, SciMLBase.NullParameters, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}}, SciMLBase.StandardODEProblem}, OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, OrdinaryDiffEq.InterpolationData{SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Vector{Vector{ComplexF64}}, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}}, DiffEqBase.DEStats}, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}, OrdinaryDiffEq.DEOptions{Float64, Float64, Float64, Float64, OrdinaryDiffEq.PIController{Rational{Int64}}, typeof(DiffEqBase.ODE_DEFAULT_NORM), typeof(LinearAlgebra.opnorm), Nothing, SciMLBase.CallbackSet{Tuple{}, Tuple{}}, typeof(DiffEqBase.ODE_DEFAULT_ISOUTOFDOMAIN), typeof(DiffEqBase.ODE_DEFAULT_PROG_MESSAGE), typeof(DiffEqBase.ODE_DEFAULT_UNSTABLE_CHECK), DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, Nothing, Nothing, Int64, Tuple{}, Tuple{}, Tuple{}}, Vector{ComplexF64}, ComplexF64, Nothing, OrdinaryDiffEq.DefaultInit}, cache::OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}, repeat_step::Bool)
    @ OrdinaryDiffEq ~/.julia/packages/OrdinaryDiffEq/t0VTQ/src/perform_step/low_order_rk_perform_step.jl:587
  [6] perform_step!
    @ ~/.julia/packages/OrdinaryDiffEq/t0VTQ/src/perform_step/low_order_rk_perform_step.jl:582 [inlined]
  [7] step!
    @ ~/.julia/packages/OrdinaryDiffEq/t0VTQ/src/iterator_interface.jl:12 [inlined]
  [8] iterate(integrator::OrdinaryDiffEq.ODEIntegrator{OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, false, Vector{ComplexF64}, Nothing, Float64, SciMLBase.NullParameters, Float64, Float64, Float64, Float64, Vector{Vector{ComplexF64}}, SciMLBase.ODESolution{ComplexF64, 2, Vector{Vector{ComplexF64}}, Nothing, Nothing, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, SciMLBase.ODEProblem{Vector{ComplexF64}, Tuple{Float64, Float64}, false, SciMLBase.NullParameters, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}}, SciMLBase.StandardODEProblem}, OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, OrdinaryDiffEq.InterpolationData{SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Vector{Vector{ComplexF64}}, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}}, DiffEqBase.DEStats}, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}, OrdinaryDiffEq.DEOptions{Float64, Float64, Float64, Float64, OrdinaryDiffEq.PIController{Rational{Int64}}, typeof(DiffEqBase.ODE_DEFAULT_NORM), typeof(LinearAlgebra.opnorm), Nothing, SciMLBase.CallbackSet{Tuple{}, Tuple{}}, typeof(DiffEqBase.ODE_DEFAULT_ISOUTOFDOMAIN), typeof(DiffEqBase.ODE_DEFAULT_PROG_MESSAGE), typeof(DiffEqBase.ODE_DEFAULT_UNSTABLE_CHECK), DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, Nothing, Nothing, Int64, Tuple{}, Tuple{}, Tuple{}}, Vector{ComplexF64}, ComplexF64, Nothing, OrdinaryDiffEq.DefaultInit}, state::Int64)
    @ SciMLBase ~/.julia/packages/SciMLBase/jj8Ix/src/integrator_interface.jl:400
  [9] iterate(integrator::OrdinaryDiffEq.ODEIntegrator{OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, false, Vector{ComplexF64}, Nothing, Float64, SciMLBase.NullParameters, Float64, Float64, Float64, Float64, Vector{Vector{ComplexF64}}, SciMLBase.ODESolution{ComplexF64, 2, Vector{Vector{ComplexF64}}, Nothing, Nothing, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, SciMLBase.ODEProblem{Vector{ComplexF64}, Tuple{Float64, Float64}, false, SciMLBase.NullParameters, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}}, SciMLBase.StandardODEProblem}, OrdinaryDiffEq.Tsit5{typeof(OrdinaryDiffEq.trivial_limiter!), typeof(OrdinaryDiffEq.trivial_limiter!), Static.False}, OrdinaryDiffEq.InterpolationData{SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, Vector{Vector{ComplexF64}}, Vector{Float64}, Vector{Vector{Vector{ComplexF64}}}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}}, DiffEqBase.DEStats}, SciMLBase.ODEFunction{false, ControlSystems.var"#262#263"{Polynomials.Polynomial{Int64, :x}, Polynomials.Polynomial{Int64, :x}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing}, OrdinaryDiffEq.Tsit5ConstantCache{Float64, Float64}, OrdinaryDiffEq.DEOptions{Float64, Float64, Float64, Float64, OrdinaryDiffEq.PIController{Rational{Int64}}, typeof(DiffEqBase.ODE_DEFAULT_NORM), typeof(LinearAlgebra.opnorm), Nothing, SciMLBase.CallbackSet{Tuple{}, Tuple{}}, typeof(DiffEqBase.ODE_DEFAULT_ISOUTOFDOMAIN), typeof(DiffEqBase.ODE_DEFAULT_PROG_MESSAGE), typeof(DiffEqBase.ODE_DEFAULT_UNSTABLE_CHECK), DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, DataStructures.BinaryHeap{Float64, DataStructures.FasterForward}, Nothing, Nothing, Int64, Tuple{}, Tuple{}, Tuple{}}, Vector{ComplexF64}, ComplexF64, Nothing, OrdinaryDiffEq.DefaultInit})
    @ SciMLBase ~/.julia/packages/SciMLBase/jj8Ix/src/integrator_interface.jl:398
 [10] getpoles(G::TransferFunction{Continuous, ControlSystems.SisoZpk{Int64, Int64}}, K::StepRangeLen{Float64, Base.TwicePrecision{Float64}, Base.TwicePrecision{Float64}, Int64})
    @ ControlSystems ~/.julia/packages/ControlSystems/pI5Jw/src/pid_design.jl:95
 [11] macro expansion
    @ ~/.julia/packages/ControlSystems/pI5Jw/src/pid_design.jl:119 [inlined]
 [12] apply_recipe(plotattributes::AbstractDict{Symbol, Any}, p::ControlSystems.Rlocusplot)
    @ ControlSystems ~/.julia/packages/RecipesBase/qpxEX/src/RecipesBase.jl:289
 [13] _process_userrecipes!(plt::Any, plotattributes::Any, args::Any)
    @ RecipesPipeline ~/.julia/packages/RecipesPipeline/7ijBv/src/user_recipe.jl:36
 [14] recipe_pipeline!(plt::Any, plotattributes::Any, args::Any)
    @ RecipesPipeline ~/.julia/packages/RecipesPipeline/7ijBv/src/RecipesPipeline.jl:70
 [15] _plot!(plt::Plots.Plot, plotattributes::Any, args::Any)
    @ Plots ~/.julia/packages/Plots/9C6z9/src/plot.jl:208
 [16] plot(args::Any; kw::Base.Pairs{Symbol, V, Tuple{Vararg{Symbol, N}}, NamedTuple{names, T}} where {V, N, names, T<:Tuple{Vararg{Any, N}}})
    @ Plots ~/.julia/packages/Plots/9C6z9/src/plot.jl:91
 [17] plot
    @ ~/.julia/packages/Plots/9C6z9/src/plot.jl:85 [inlined]
 [18] #rlocusplot#258
    @ ~/.julia/packages/RecipesBase/qpxEX/src/RecipesBase.jl:364 [inlined]
 [19] rlocusplot
    @ ~/.julia/packages/RecipesBase/qpxEX/src/RecipesBase.jl:364 [inlined]
 [20] rlocus(args::TransferFunction{Continuous, ControlSystems.SisoZpk{Int64, Int64}}; kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
    @ ControlSystems ./deprecated.jl:72
 [21] rlocus(args::TransferFunction{Continuous, ControlSystems.SisoZpk{Int64, Int64}})
    @ ControlSystems ./deprecated.jl:71
 [22] top-level scope
    @ REPL[31]:1