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Added option for computing anti-stabilizing solutions of Riccati equations #281

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Merged
murrayrm merged 6 commits into from
Apr 7, 2019
Merged

Added option for computing anti-stabilizing solutions of Riccati equations #281

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cf77e23
added option for computing anti-stabilizing solutions of Riccati equa…
Mar 21, 2019
3ece9aa
added unit test for riccati equation
Mar 21, 2019
ed4590c
moved tests to appropriate position
Mar 24, 2019
a321925
install scikit-build for testing with slycot
repagh Mar 19, 2019
0fad329
move the comment line in .travis.yml
repagh Mar 25, 2019
be598c1
use Unix Makefiles for install with scikit-build
repagh Mar 25, 2019
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added unit test for riccati equation
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Daniel Bankmann
Daniel Bankmann committed Mar 21, 2019
commit 3ece9aa539e75f2e3a9524f8b6c10564d96702fa
30 changes: 30 additions & 0 deletions examples/test-riccati.py
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import numpy as np
import control


#unit test for stabilizing and anti-stabilizing feedbacks
#continuous-time

A = np.diag([1,-1])
B = np.identity(2)
Q = np.identity(2)
R = np.identity(2)
S = 0 * B
E = np.identity(2)
X, L , G = control.care(A, B, Q, R, S, E, stabilizing=True)
assert np.all(np.real(L) < 0)
X, L , G = control.care(A, B, Q, R, S, E, stabilizing=False)
assert np.all(np.real(L) > 0)


#discrete-time
A = np.diag([0.5,2])
B = np.identity(2)
Q = np.identity(2)
R = np.identity(2)
S = 0 * B
E = np.identity(2)
X, L , G = control.dare(A, B, Q, R, S, E, stabilizing=True)
assert np.all(np.abs(L) < 1)
X, L , G = control.dare(A, B, Q, R, S, E, stabilizing=False)
assert np.all(np.abs(L) > 1)