fix(timeresp): avoid warning for discrete -1 poles#1225
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Treat negative real discrete poles on the unit circle as oscillatory modes instead of decaying negative real modes, avoiding a divide-by-zero RuntimeWarning when computing the default impulse-response horizon. Co-authored-by: OpenAI Codex <codex@openai.com>
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@marko1olo There is already an open PR that is supposed to fix #1204 : #1216 I will re-open this PR if the other one is not sufficient. |
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Fixes #1204.
_ideal_tfinal_and_dt()already treats negative real discrete poles separately, but a pole exactly on the unit circle at-1was still sent through the decaying negative-real path. That path divides byreal(log(pole)), which is zero for-1, soimpulse_response()emitted aRuntimeWarningeven though the response itself was valid.This change keeps decaying negative real poles such as
-0.5on the existing decay-based path, keeps positive real discrete poles on the existing padded path, and lets unit-circle negative real poles flow to the pure oscillatory-mode estimate.Verification:
warnings.simplefilter("error", RuntimeWarning)before the fix.python -m pytest control\tests\timeresp_test.py::TestTimeresp::test_auto_generated_time_vector_tfinal control\tests\timeresp_test.py::TestTimeresp::test_discrete_negative_real_pole_tfinal control\tests\timeresp_test.py::TestTimeresp::test_discrete_time_impulse_negative_poles_no_warning -qpython -m pytest control\tests\timeresp_test.py -qpython -m ruff check --no-cache control\timeresp.py control\tests\timeresp_test.pyPYTHONPYCACHEPREFIX=C:\tmp\pycache-python-control-1204 python -m compileall -q control\timeresp.py control\tests\timeresp_test.pygit diff --checkAI-assisted contribution: implemented with OpenAI Codex and manually verified with the commands above.