DirectSD-Python 0.1.0__py3-none-any.whl

directsd/examples/_common.py

@@ -0,0 +1,36 @@
+"""
+Shared helpers for the example/demo scripts (``demos.py``, ``help_examples.py``,
+``examples.py``).
+
+Centralizes ``_cl_poles``, which was found duplicated verbatim across
+``demos.py`` and ``help_examples.py`` -- two independent copies of the same
+logic that could silently diverge if one got fixed and not the other.
+
+Also re-exports ``_z2zeta`` from ``design.polynomial`` for the "pre-convert a
+whole plant matrix before calling ``dhinf``" pattern (MATLAB's own
+``sys = z2zeta(sys)`` before ``demo_dhinf.m``'s calls, since ``dhinf`` applies
+``z2zeta`` again internally -- skipping this pre-conversion hands the pipeline
+the zeta-domain functions instead of the z-domain ones, flipping every
+stability-based factor split). ``_z2zeta`` is one function for any input
+shape (a single ``(num, den)`` pair, a ``Zpk``, or a matrix of pairs) -- see
+its own docstring in ``design/polynomial.py``.
+"""
+
+from __future__ import annotations
+import numpy as np
+
+from directsd.analysis.charpol import charpol
+from directsd.design.polynomial import _z2zeta
+
+
+def cl_poles(plant, K, T):
+    """Closed-loop z-domain poles via the characteristic polynomial.
+
+    Returns an empty array (rather than raising) if ``charpol`` fails --
+    some example plants are pathological enough that this is expected.
+    """
+    try:
+        delta = charpol(plant, K, T)
+        return np.roots(delta)
+    except Exception:
+        return np.array([])