From commit 7cf9630:
Note: the scipy implementation handles only the case S = 0, E = I, the default values. If S and E are specified, the old routine (using slycot) is called. This passes the existing tests, but the tests include only one simple case, so it would be good to test this more extensively.
@robertobucher suggests the following fix:
# Check dimensions for consistency
nstates = B.shape[0];
ninputs = B.shape[1];
if (A.shape[0] != nstates or A.shape[1] != nstates):
raise ControlDimension("inconsistent system dimensions")
elif (Q.shape[0] != nstates or Q.shape[1] != nstates or
R.shape[0] != ninputs or R.shape[1] != ninputs) :
raise ControlDimension("incorrect weighting matrix dimensions")
X,rcond,w,S,T = \
sb02od(nstates, ninputs, A, B, Q, R, 'D');
return XThis doesn't seem to directly deal with the S and E arguments, so need to figure that part out.
From commit 7cf9630:
@robertobucher suggests the following fix:
This doesn't seem to directly deal with the S and E arguments, so need to figure that part out.