Python自动控制（三）

二自由度之PI-D与I-PD控制

import control as ctrl
from control.matlab import *
import sympy as sp
import matplotlib.pyplot as plt
import numpy as np
 
#--------------------------------------------------------
def linestyle_generator():
    linestyle = ['-', '--', '-.', ':']
    lineID = 0
    while True:
        yield linestyle[lineID]
        lineID = (lineID + 1) % len(linestyle)
 
def plot_set(fig_ax, *argv):
    fig_ax.set_xlabel(argv[0])
    fig_ax.set_ylabel(argv[1])
 
    fig_ax.grid(ls=':')
    if len(argv) == 3:
        fig_ax.legend(loc=argv[2])
 
def bodeplot_set(fig_ax, *argv):
    fig_ax[0].grid(which='both', ls=':')
    fig_ax[0].set_ylabel('Gain [dB')
 
    fig_ax[1].grid(which='both', ls=':')
    fig_ax[1].set_xlabel('$\omega$ [rad/s]')
    fig_ax[1].set_ylabel('Phase [deg')
 
    if len(argv) > 0: