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Change to code for ctrb and obsv #300

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Merged
merged 2 commits into from
May 18, 2019
Merged

Change to code for ctrb and obsv #300

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083ed75
Change to code for ctrb and obsv
billtubbs May 18, 2019
9309259
Bug fix to osbv
billtubbs May 18, 2019
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13 changes: 5 additions & 8 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -368,7 +368,7 @@ def lqr(*args, **keywords):

return K, S, E

def ctrb(A,B):
def ctrb(A, B):
"""Controllabilty matrix

Parameters
Expand All @@ -391,10 +391,9 @@ def ctrb(A,B):
amat = np.mat(A)
bmat = np.mat(B)
n = np.shape(amat)[0]

# Construct the controllability matrix
ctrb = bmat
for i in range(1, n):
ctrb = np.hstack((ctrb, amat**i*bmat))
ctrb = np.hstack([bmat] + [amat**i*bmat for i in range(1, n)])
return ctrb

def obsv(A, C):
Expand All @@ -421,10 +420,8 @@ def obsv(A, C):
cmat = np.mat(C)
n = np.shape(amat)[0]

# Construct the controllability matrix
obsv = cmat
for i in range(1, n):
obsv = np.vstack((obsv, cmat*amat**i))
# Construct the observability matrix
obsv = np.vstack([cmat] + [cmat*amat**i for i in range(1, n)])
return obsv

def gram(sys,type):
Expand Down