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Extend dare to handle S != 0, E != I case correctly (using scipy?) #36
Description
From commit 7cf9630:
Note: the scipy implementation handles only the case S = 0, E = I, the default values. If S and E are specified, the old routine (using slycot) is called. This passes the existing tests, but the tests include only one simple case, so it would be good to test this more extensively.
@robertobucher suggests the following fix:
# Check dimensions for consistency
nstates = B.shape[0];
ninputs = B.shape[1];
if (A.shape[0] != nstates or A.shape[1] != nstates):
raise ControlDimension("inconsistent system dimensions")
elif (Q.shape[0] != nstates or Q.shape[1] != nstates or
R.shape[0] != ninputs or R.shape[1] != ninputs) :
raise ControlDimension("incorrect weighting matrix dimensions")
X,rcond,w,S,T = \
sb02od(nstates, ninputs, A, B, Q, R, 'D');
return XThis doesn't seem to directly deal with the S and E arguments, so need to figure that part out.
Activity
ilayn commentedon Jun 23, 2017
Just a reminder: SciPy v0.19+ can handle S and E terms with its care and dare functions with consistency checks.
[-]Extend dare to handle S != 0, E != I case correctly[/-][+]Extend dare to handle S != 0, E != I case correctly (using scipy?)[/+]