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ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us… #495

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Merged
murrayrm merged 4 commits into from
Jan 15, 2021
Merged

ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us… #495

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14079fb
ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us…
roryyorke Dec 31, 2020
f630b4a
Change docstrings to numpydoc conventions; update doc func index
roryyorke Jan 2, 2021
7122b07
Add @slycotonly decorator as needed
roryyorke Jan 2, 2021
8fc3627
update _convertToStateSpace to _convert_to_statespace
murrayrm Jan 15, 2021
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update _convertToStateSpace to _convert_to_statespace
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@murrayrm
murrayrm committed Jan 15, 2021
commit 8fc3627840223a37aff863d0b269283a28da3437
4 changes: 2 additions & 2 deletions control/canonical.py
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Expand Up @@ -3,7 +3,7 @@

from .exception import ControlNotImplemented, ControlSlycot
from .lti import issiso
from .statesp import StateSpace, _convertToStateSpace
from .statesp import StateSpace, _convert_to_statespace
from .statefbk import ctrb, obsv

import numpy as np
Expand Down Expand Up @@ -444,7 +444,7 @@ def modal_form(xsys, condmax=None, sort=False):
else:
bd_sort = None

xsys = _convertToStateSpace(xsys)
xsys = _convert_to_statespace(xsys)
amodal, tmodal, _ = bdschur(xsys.A, condmax=condmax, sort=bd_sort)

return similarity_transform(xsys, tmodal, inverse=True), tmodal