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Merged
murrayrm merged 10 commits into from
Dec 26, 2020
Merged

Consistent return values for lqe and lqr #477

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802b47b
DOC: fix typos, equation numbering in doc/flatsys.rst
murrayrm Jan 5, 2020
7b9d1a9
small updates to statefbk.py docstrings
murrayrm Jan 18, 2020
4f49094
update setup.py contract info
murrayrm Jan 20, 2020
17c1840
small fixes to iosys docstrings (from samlaf)
murrayrm May 17, 2020
97c4a65
TRV: fix indentation in docstring
murrayrm Dec 22, 2020
3e6347f
update lqr() return type documentation (addresses #418)
murrayrm Dec 22, 2020
6ff59f0
Added 2D array/matrix note to all functions using _ssmatrix + numpydo…
murrayrm Dec 24, 2020
8bb11c4
update lqe return values to match lqr
murrayrm Dec 24, 2020
9edb6c6
Merge branch 'master' of https://github.com/python-control/python-con…
murrayrm Dec 24, 2020
becd0ab
update lqe docstring
murrayrm Dec 24, 2020
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small updates to statefbk.py docstrings
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@murrayrm
murrayrm committed Dec 22, 2020
commit 7b9d1a9d080559abdcca90977fec8d1e753ad5a5
35 changes: 18 additions & 17 deletions control/statefbk.py
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Expand Up @@ -134,16 +134,17 @@ def place_varga(A, B, p, dtime=False, alpha=None):

Optional Parameters
---------------
dtime: False for continuous time pole placement or True for discrete time.
The default is dtime=False.
alpha: double scalar
If DICO='C', then place_varga will leave the eigenvalues with real
real part less than alpha untouched.
If DICO='D', the place_varga will leave eigenvalues with modulus
less than alpha untouched.
dtime : bool
False for continuous time pole placement or True for discrete time.
The default is dtime=False.

By default (alpha=None), place_varga computes alpha such that all
poles will be placed.
alpha : double scalar
If DICO='C', then place_varga will leave the eigenvalues with real real
part less than alpha untouched. If DICO='D', the place_varga will
leave eigenvalues with modulus less than alpha untouched.

By default (alpha=None), place_varga computes alpha such that all poles
will be placed.

Returns
-------
Expand All @@ -153,14 +154,13 @@ def place_varga(A, B, p, dtime=False, alpha=None):

Algorithm
---------
This function is a wrapper for the slycot function sb01bd, which
implements the pole placement algorithm of Varga [1]. In contrast to
the algorithm used by place(), the Varga algorithm can place
multiple poles at the same location. The placement, however, may not
be as robust.
This function is a wrapper for the slycot function sb01bd, which
implements the pole placement algorithm of Varga [1]. In contrast to the
algorithm used by place(), the Varga algorithm can place multiple poles at
the same location. The placement, however, may not be as robust.

[1] Varga A. "A Schur method for pole assignment."
IEEE Trans. Automatic Control, Vol. AC-26, pp. 517-519, 1981.
[1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
Control, Vol. AC-26, pp. 517-519, 1981.

Examples
--------
Expand All @@ -171,6 +171,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
See Also:
--------
place, acker

"""

# Make sure that SLICOT is installed
Expand Down Expand Up @@ -213,7 +214,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
# but does the trick
alpha = -2*abs(min(system_eigs.real))
elif dtime and alpha < 0.0:
raise ValueError("Need alpha > 0 when DICO='D'")
raise ValueError("Discrete time systems require alpha > 0")


# Call SLICOT routine to place the eigenvalues
Expand Down