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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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9 changes: 2 additions & 7 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -282,19 +282,14 @@ def lqe(A, G, C, QN, RN, NN=None):

A P + P A^T - (P C^T + G N) R^{-1} (C P + N^T G^T) + G Q G^T = 0

E : 2D array (or matrix)
E : 1D array
Eigenvalues of estimator poles eig(A - L C)

Notes
-----
The return type for 2D arrays depends on the default class set for
state space operations. See :func:`~control.use_numpy_matrix`.

The return type for `E` differs from the equivalent return values in the
:func:`~control.lqr`, :func:`~control.care`, and other similar
functions. The return type will be changed to a 1D array in a future
release.

Examples
--------
>>> K, P, E = lqe(A, G, C, QN, RN)
Expand All @@ -317,7 +312,7 @@ def lqe(A, G, C, QN, RN, NN=None):
A, G, C = np.array(A, ndmin=2), np.array(G, ndmin=2), np.array(C, ndmin=2)
QN, RN = np.array(QN, ndmin=2), np.array(RN, ndmin=2)
P, E, LT = care(A.T, C.T, np.dot(np.dot(G, QN), G.T), RN)
return _ssmatrix(LT.T), _ssmatrix(P), _ssmatrix(E)
return _ssmatrix(LT.T), _ssmatrix(P), E


# Contributed by Roberto Bucher <roberto.bucher@supsi.ch>
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2 changes: 1 addition & 1 deletion control/tests/statefbk_test.py
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Expand Up @@ -302,7 +302,7 @@ def test_LQR_3args(self):
def check_LQE(self, L, P, poles, G, QN, RN):
P_expected = np.array(np.sqrt(G*QN*G * RN))
L_expected = P_expected / RN
poles_expected = np.array([-L_expected], ndmin=2)
poles_expected = np.array([-L_expected])
np.testing.assert_array_almost_equal(P, P_expected)
np.testing.assert_array_almost_equal(L, L_expected)
np.testing.assert_array_almost_equal(poles, poles_expected)
Expand Down