diff --git a/control/statefbk.py b/control/statefbk.py index c08c645e9..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 @@ -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 @@ -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 @@ -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: @@ -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 @@ -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 -------- @@ -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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