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ctrb treats ndim=1 B correctly; ctrb & obsv check input shapes #1099

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Merged
murrayrm merged 3 commits into from
Jan 20, 2025
Merged

ctrb treats ndim=1 B correctly; ctrb & obsv check input shapes #1099

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236c1d4
ctrb converts ndim=1 B correctly; ctrb & obsv check input shapes
roryyorke Jan 19, 2025
465cfad
Easy pyflakes fixes in statefbk.py and statefbk_test.py
roryyorke Jan 19, 2025
b13ade4
Update control/tests/statefbk_test.py
murrayrm Jan 20, 2025
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ctrb converts ndim=1 B correctly; ctrb & obsv check input shapes
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@roryyorke
roryyorke committed Jan 19, 2025
commit 236c1d40a77f4ef1dafde17a2f189f90f5b83f09
35 changes: 23 additions & 12 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1098,19 +1098,26 @@ def ctrb(A, B, t=None):
"""

# Convert input parameters to matrices (if they aren't already)
amat = _ssmatrix(A)
bmat = _ssmatrix(B)
n = np.shape(amat)[0]
m = np.shape(bmat)[1]
A = _ssmatrix(A)
if np.asarray(B).ndim == 1 and len(B) == A.shape[0]:
B = _ssmatrix(B, axis=0)
else:
B = _ssmatrix(B)

n = A.shape[0]
m = B.shape[1]

_check_shape('A', A, n, n, square=True)
_check_shape('B', B, n, m)

if t is None or t > n:
t = n

# Construct the controllability matrix
ctrb = np.zeros((n, t * m))
ctrb[:, :m] = bmat
ctrb[:, :m] = B
for k in range(1, t):
ctrb[:, k * m:(k + 1) * m] = np.dot(amat, ctrb[:, (k - 1) * m:k * m])
ctrb[:, k * m:(k + 1) * m] = np.dot(A, ctrb[:, (k - 1) * m:k * m])

return _ssmatrix(ctrb)

Expand Down Expand Up @@ -1140,20 +1147,24 @@ def obsv(A, C, t=None):
"""

# Convert input parameters to matrices (if they aren't already)
amat = _ssmatrix(A)
cmat = _ssmatrix(C)
n = np.shape(amat)[0]
p = np.shape(cmat)[0]
A = _ssmatrix(A)
C = _ssmatrix(C)

n = np.shape(A)[0]
p = np.shape(C)[0]

_check_shape('A', A, n, n, square=True)
_check_shape('C', C, p, n)

if t is None or t > n:
t = n

# Construct the observability matrix
obsv = np.zeros((t * p, n))
obsv[:p, :] = cmat
obsv[:p, :] = C

for k in range(1, t):
obsv[k * p:(k + 1) * p, :] = np.dot(obsv[(k - 1) * p:k * p, :], amat)
obsv[k * p:(k + 1) * p, :] = np.dot(obsv[(k - 1) * p:k * p, :], A)

return _ssmatrix(obsv)

Expand Down
34 changes: 34 additions & 0 deletions control/tests/statefbk_test.py
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Expand Up @@ -57,6 +57,23 @@ def testCtrbT(self):
Wc = ctrb(A, B, t=t)
np.testing.assert_array_almost_equal(Wc, Wctrue)

def testCtrbNdim1(self):
# gh-1097: treat 1-dim B as nx1
A = np.array([[1., 2.], [3., 4.]])
B = np.array([5., 7.])
Wctrue = np.array([[5., 19.], [7., 43.]])
Wc = ctrb(A, B)
np.testing.assert_array_almost_equal(Wc, Wctrue)

def testCtrbRejectMismatch(self):
# gh-1097: check A, B for compatible shapes
with pytest.raises(ControlDimension, match='A must be a square matrix'):
ctrb([[1,2]],[1])
with pytest.raises(ControlDimension, match='Incompatible dimensions of B matrix'):
ctrb([[1,2],[2,3]], 1)
with pytest.raises(ControlDimension, match='Incompatible dimensions of B matrix'):
ctrb([[1,2],[2,3]], [[1,2]])

def testObsvSISO(self):
A = np.array([[1., 2.], [3., 4.]])
C = np.array([[5., 7.]])
Expand All @@ -79,6 +96,23 @@ def testObsvT(self):
Wo = obsv(A, C, t=t)
np.testing.assert_array_almost_equal(Wo, Wotrue)

def testObsvNdim1(self):
# gh-1097: treat 1-dim C as 1xn
A = np.array([[1., 2.], [3., 4.]])
C = np.array([5., 7.])
Wotrue = np.array([[5., 7.], [26., 38.]])
Wo = obsv(A, C)
np.testing.assert_array_almost_equal(Wo, Wotrue)

def testObsvRejectMismatch(self):
# gh-1097: check A, B for compatible shapes
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with pytest.raises(ControlDimension, match='A must be a square matrix'):
obsv([[1,2]],[1])
with pytest.raises(ControlDimension, match='Incompatible dimensions of C matrix'):
obsv([[1,2],[2,3]], 1)
with pytest.raises(ControlDimension, match='Incompatible dimensions of C matrix'):
obsv([[1,2],[2,3]], [[1],[2]])

def testCtrbObsvDuality(self):
A = np.array([[1.2, -2.3], [3.4, -4.5]])
B = np.array([[5.8, 6.9], [8., 9.1]])
Expand Down