Fix canonical form 'observable' #200
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
roryyorke
reviewed
Apr 21, 2018
control/canonical.py
Outdated
| @@ -133,7 +133,7 @@ def observable_form(xsys): | |||
| Wrz = obsv(zsys.A, zsys.C) | |||
|
|
|||
| # Transformation from one form to another | |||
| Tzx = inv(Wrz) * Wrx | |||
| Tzx = solve(Wrz, Wrx) # matrix right division, Tzx = inv(Wrz) * Wrx | |||
There was a problem hiding this comment.
Thanks, this looks right. I see there are no tests for observable_form - would you mind adding one?
This would be left division in Matlab's terminology
There was a problem hiding this comment.
you are right. See my update
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Minor fix to use 'solve' instead of 'inv'.
Asserts with prio 'inv' from (numpy.linalg.inv was also not imported, yet not needed anymore)