enabled some non-slycot testing of dare and care functions in mateqn.py

sawyerbfuller · sawyerbfuller · commit d387fa42a910 · 2021-11-09T13:32:22.000-08:00
diff --git a/control/mateqn.py b/control/mateqn.py
@@ -824,7 +824,7 @@ def dare(A, B, Q, R=None, S=None, E=None, stabilizing=True):
         X = solve_discrete_are(A, B, Qmat, Rmat, E, S)
         if S is None: 
             S = zeros((nstates, ninputs))
-        G = solve(B.T.dot(X).dot(B) + Rmat, B.T.dot(X).dot(A))
+        G = solve(B.T.dot(X).dot(B) + Rmat, B.T.dot(X).dot(A) + S.T)
         L = eigvals(A - B.dot(G), E)
         return _ssmatrix(X), L, _ssmatrix(G)
 
diff --git a/control/tests/mateqn_test.py b/control/tests/mateqn_test.py
@@ -43,10 +43,10 @@
 from control.tests.conftest import slycotonly
 
 
-@slycotonly
 class TestMatrixEquations:
     """These are tests for the matrix equation solvers in mateqn.py"""
 
+    @slycotonly
     def test_lyap(self):
         A = array([[-1, 1],[-1, 0]])
         Q = array([[1,0],[0,1]])
@@ -60,6 +60,7 @@ def test_lyap(self):
         # print("The solution obtained is ", X)
         assert_array_almost_equal(A.dot(X) + X.dot(A.T) + Q, zeros((2,2)))
 
+    @slycotonly
     def test_lyap_sylvester(self):
         A = 5
         B = array([[4, 3], [4, 3]])
@@ -75,6 +76,7 @@ def test_lyap_sylvester(self):
         # print("The solution obtained is ", X)
         assert_array_almost_equal(A.dot(X) + X.dot(B) + C, zeros((2,2)))
 
+    @slycotonly
     def test_lyap_g(self):
         A = array([[-1, 2],[-3, -4]])
         Q = array([[3, 1],[1, 1]])
@@ -84,6 +86,7 @@ def test_lyap_g(self):
         assert_array_almost_equal(A.dot(X).dot(E.T) + E.dot(X).dot(A.T) + Q,
                                   zeros((2,2)))
 
+    @slycotonly
     def test_dlyap(self):
         A = array([[-0.6, 0],[-0.1, -0.4]])
         Q = array([[1,0],[0,1]])
@@ -97,6 +100,7 @@ def test_dlyap(self):
         # print("The solution obtained is ", X)
         assert_array_almost_equal(A.dot(X).dot(A.T) - X + Q, zeros((2,2)))
 
+    @slycotonly
     def test_dlyap_g(self):
         A = array([[-0.6, 0],[-0.1, -0.4]])
         Q = array([[3, 1],[1, 1]])
@@ -106,6 +110,7 @@ def test_dlyap_g(self):
         assert_array_almost_equal(A.dot(X).dot(A.T) - E.dot(X).dot(E.T) + Q,
                                   zeros((2,2)))
 
+    @slycotonly
     def test_dlyap_sylvester(self):
         A = 5
         B = array([[4, 3], [4, 3]])
@@ -242,6 +247,7 @@ def test_dare_g2(self):
         lam = eigvals(A - B.dot(G), E)
         assert_array_less(abs(lam), 1.0)
 
+    @slycotonly
     def test_raise(self):
         """ Test exception raise for invalid inputs """
 
