From 092b76cdd71dab97c2598d0e20d41e60b59996fd Mon Sep 17 00:00:00 2001 From: bnavigator Date: Wed, 30 Dec 2020 00:12:21 +0100 Subject: [PATCH 1/2] fix statefbk docstring and input array type --- control/statefbk.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/control/statefbk.py b/control/statefbk.py index c08c645e9..35192d7f4 100644 --- a/control/statefbk.py +++ b/control/statefbk.py @@ -120,7 +120,7 @@ def place(A, B, p): raise ControlDimension(err_str) # Convert desired poles to numpy array - placed_eigs = np.array(p) + placed_eigs = np.atleast_1d(np.squeeze(np.asarray(p))) result = place_poles(A_mat, B_mat, placed_eigs, method='YT') K = result.gain_matrix @@ -201,7 +201,7 @@ def place_varga(A, B, p, dtime=False, alpha=None): # Compute the system eigenvalues and convert poles to numpy array system_eigs = np.linalg.eig(A_mat)[0] - placed_eigs = np.array(p) + placed_eigs = np.atleast_1d(np.squeeze(np.asarray(p))) # Need a character parameter for SB01BD if dtime: @@ -292,8 +292,8 @@ def lqe(A, G, C, QN, RN, NN=None): Examples -------- - >>> K, P, E = lqe(A, G, C, QN, RN) - >>> K, P, E = lqe(A, G, C, QN, RN, NN) + >>> L, P, E = lqe(A, G, C, QN, RN) + >>> L, P, E = lqe(A, G, C, QN, RN, NN) See Also -------- From 5a9e4332bab0e59f721ef86b1eb36c0049e09a10 Mon Sep 17 00:00:00 2001 From: bnavigator Date: Wed, 30 Dec 2020 01:32:33 +0100 Subject: [PATCH 2/2] update docstring for statefbk inputs --- control/statefbk.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/control/statefbk.py b/control/statefbk.py index 35192d7f4..1d51cfc61 100644 --- a/control/statefbk.py +++ b/control/statefbk.py @@ -41,7 +41,7 @@ # External packages and modules import numpy as np -import scipy as sp + from . import statesp from .mateqn import care from .statesp import _ssmatrix @@ -59,11 +59,11 @@ def place(A, B, p): Parameters ---------- - A : 2D array + A : 2D array_like Dynamics matrix - B : 2D array + B : 2D array_like Input matrix - p : 1D list + p : 1D array_like Desired eigenvalue locations Returns @@ -133,11 +133,11 @@ def place_varga(A, B, p, dtime=False, alpha=None): Required Parameters ---------- - A : 2D array + A : 2D array_like Dynamics matrix - B : 2D array + B : 2D array_like Input matrix - p : 1D list + p : 1D array_like Desired eigenvalue locations Optional Parameters @@ -264,9 +264,9 @@ def lqe(A, G, C, QN, RN, NN=None): Parameters ---------- - A, G : 2D array + A, G : 2D array_like Dynamics and noise input matrices - QN, RN : 2D array + QN, RN : 2D array_like Process and sensor noise covariance matrices NN : 2D array, optional Cross covariance matrix @@ -324,9 +324,9 @@ def acker(A, B, poles): Parameters ---------- - A, B : 2D arrays + A, B : 2D array_like State and input matrix of the system - poles : 1D list + poles : 1D array_like Desired eigenvalue locations Returns pFad - Phonifier reborn

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