Function setup_bode_plot has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def setup_bode_plot(title_str, w=numpy.logspace(-2, 2, 100), func=False, legend=False, plot=plt.loglog, grid=True):

Function sv_dir_plot has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def sv_dir_plot(G, plot_type, w_start=-2, w_end=2, axlim=None, points=1000):

Avoid deeply nested control flow statements.

Open

                    for j in range(len(Poles_G)):
                        denominator_mat = ((np.conjugate(yp_direction[:, i]))
                           *Dead_time_matrix(Poles_G[i], dead_time_vec_max_row)
                           *Dead_time_matrix(Poles_G[j], dead_time_vec_max_row)
                           *yp_direction[:, j]).T

Function bode has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def bode(G, w_start=-2, w_end=2, axlim=None, points=1000, margin=False):

Function scaling has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def scaling(G_hat, e, u, input_type='symbolic', Gd_hat=None, d=None):

Function bound_SISO_wi has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def bound_SISO_wi(w_start, w_end, vec, G, Gp, steps):

Function zero_directions_ss has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

def zero_directions_ss(A, B, C, D):
    """
    This function calculates the zeros with input and output directions from
    a state space representation using the method outlined on pg. 140

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Function plot_freq_subplot has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def plot_freq_subplot(plt, w, direction, name, color, figure_num):

Avoid deeply nested control flow statements.

Open

                    if (y1[0, 0] > constraint) or bconst:
                        y1[0, 0] = constraint
                        # once constraint the system is oversaturated
                        bconst = True
                        # TODO : incorrect, find the correct switch condition

Function bound_MIMO_wi has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def bound_MIMO_wi(w_start, w_end, vec, G, Gp, steps):

Avoid deeply nested control flow statements.

Open

                    if isinstance(u, (float)):  # data is float
                        u = '{:.3e}'.format(u)
                    elif isinstance(u, (str, bool, int)): # data is string or boolean
                        u = ' {}'.format(u)
                    else:  # data is matrix

Function step has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

    def step(self, u_input, t_start=0, t_end=100, points=1000):
        """
        Calculate the time domian step response of a mimotf object.
        
        Parameters:

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Function minors has a Cognitive Complexity of 8 (exceeds 5 allowed). Consider refactoring.

Open

def minors(G, order):
    """
    Returns the order minors of a MIMO tf G.
    """
    retlist = []

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Avoid deeply nested control flow statements.

Open

                    if axlim is not None:
                        ax.axis(axlim)
                    else:
                        ax.axis([None, None, None, max(rgamax)])

Function zeros has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

def zeros(G=None, A=None, B=None, C=None, D=None):

Function __init__ has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def __init__(self, name, out_name, in1, in2, add=True):

Function kalman_controllable has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

def kalman_controllable(A, B, C, P=None, RP=None):

Function PEAK_MIMO has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

def PEAK_MIMO(w_start, w_end, error_poles_direction, wr, deadtime_if=0):

Function kalman_observable has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

def kalman_observable(A, B, C, Q=None, RQ=None):

Function satisfy has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

def satisfy(wI, G, Gp, params, s):