import control as ctl

import numpy as np

def damp(sys,display=False):

pole_list = []

m_list = []

wn_list = []

for pole in sys.pole():

pole = pole.astype(complex) # WTF: the python control "damp" function is buggy due to this missing cast !

if ctl.isctime(sys):

pole_continuous = pole

else:

pole_continuous = np.log(pole)/sys.dt

wn = np.abs(pole_continuous)

m = -np.real(pole_continuous)/wn

pole_list.append(pole)

wn_list.append(wn)

m_list.append(m)

if display:

print("pole {:.3f} : wn={:.3f} rad/s, m= {:.3f}".format(pole, wn, m))

return wn_list, m_list, pole_list