'System Identification and Control Design' example running error too #31
Description
When i run the System Identification and Control Design example , in step 3 i got this error. How can i fix it? @jgoppert
/home/user/anaconda3/lib/python3.6/site-packages/control/freqplot.py:153: MatplotlibDeprecationWarning: pyplot.hold is deprecated.
Future behavior will be consistent with the long-time default:
plot commands add elements without first clearing the
Axes and/or Figure.
plt.hold(True);
/home/user/anaconda3/lib/python3.6/site-packages/matplotlib/__init__.py:805: MatplotlibDeprecationWarning: axes.hold is deprecated. Please remove it from your matplotlibrc and/or style files.
mplDeprecation)
/home/user/anaconda3/lib/python3.6/site-packages/matplotlib/rcsetup.py:155: MatplotlibDeprecationWarning: axes.hold is deprecated, will be removed in 3.0
mplDeprecation)
/home/user/anaconda3/lib/python3.6/site-packages/control/freqplot.py:163: MatplotlibDeprecationWarning: pyplot.hold is deprecated.
Future behavior will be consistent with the long-time default:
plot commands add elements without first clearing the
Axes and/or Figure.
plt.hold(True);
/home/user/anaconda3/lib/python3.6/site-packages/matplotlib/cbook/deprecation.py:106: MatplotlibDeprecationWarning: Adding an axes using the same arguments as a previous axes currently reuses the earlier instance. In a future version, a new instance will always be created and returned. Meanwhile, this warning can be suppressed, and the future behavior ensured, by passing a unique label to each axes instance.
warnings.warn(message, mplDeprecation, stacklevel=1)
margins (1.6063530208385868, 53.69495402420043, 31.494696420182457, 92.34314850122355)
margins (3.865272625550007, 67.586291048282, 9.166550830029614, 48.26946306098183)
fun: 234778.47387434263
hess_inv: <2x2 LbfgsInvHessProduct with dtype=float64>
jac: array([-1.61817297e+00, 1.64574164e+05])
message: b'ABNORMAL_TERMINATION_IN_LNSRCH'
nfev: 351
nit: 16
status: 2
success: False
x: array([1.88306637e+02, 4.49999996e-02])
---------------------------------------------------------------------------
RuntimeError Traceback (most recent call last)
<ipython-input-6-e515a7be8a66> in <module>()
1 gains, design_data = px4tools.logsysid.control_design(data[20:80],
----> 2 do_plot=True)
3 print(json.dumps(gains, indent=4))
~/anaconda3/lib/python3.6/site-packages/px4tools/logsysid.py in control_design(raw_data, do_plot, rolling_mean_window, verbose)
388 'pitch rate', pitch_acc, data.ATTC_Pitch,
389 rolling_mean_window=rolling_mean_window,
--> 390 do_plot=do_plot, d_tc=d_tc, verbose=verbose)
391
392 K_pitch, G_pitch, G_cl_pitch = pid_design(
~/anaconda3/lib/python3.6/site-packages/px4tools/logsysid.py in attitude_control_design(name, y, u, rolling_mean_window, do_plot, verbose, d_tc)
327
328 G_ol, delay, k = attitude_sysid(
--> 329 y_debiased, u_debiased, verbose)
330
331 K, G_ol_rate, G_cl_rate = pid_design(
~/anaconda3/lib/python3.6/site-packages/px4tools/logsysid.py in attitude_sysid(y_acc, u_mix, verbose)
228 if verbose:
229 print('solving for plant model ', end='')
--> 230 k, delay = delay_and_gain_sysid(y_acc, u_mix, verbose)
231 if verbose:
232 print('done')
~/anaconda3/lib/python3.6/site-packages/px4tools/logsysid.py in delay_and_gain_sysid(y, u, verbose)
86 if res['success'] != True:
87 print(res)
---> 88 raise RuntimeError('optimization failed')
89 elif verbose:
90 print(res)
RuntimeError: optimization failed