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Fix lqe docstring and input array type #483

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Merged
merged 2 commits into from
Dec 30, 2020
Merged

Fix lqe docstring and input array type #483

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092b76c
fix statefbk docstring and input array type
bnavigator Dec 29, 2020
5a9e433
update docstring for statefbk inputs
bnavigator Dec 30, 2020
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30 changes: 15 additions & 15 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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:
Expand Down Expand Up @@ -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
Expand All @@ -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
--------
Expand Down Expand Up @@ -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
Expand Down