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fix return shape for place_acker (#1190) #1195

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Merged
bnavigator merged 3 commits into from
Feb 15, 2026
Merged

fix return shape for place_acker (#1190) #1195

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3215681
fix return shape for place_acker (#1190)
murrayrm Jan 19, 2026
8c71d6e
add mark for slycot in unit test
murrayrm Jan 19, 2026
cde5cbf
fix deprecated NumPy issues that were causing CI errors
murrayrm Jan 24, 2026
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2 changes: 1 addition & 1 deletion control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -251,7 +251,7 @@ def place_acker(A, B, poles):
pmat = pmat + p[n-i-1] * np.linalg.matrix_power(A, i)
K = np.linalg.solve(ct, pmat)

K = K[-1, :] # Extract the last row
K = K[-1:, :] # Extract the last row
return K


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20 changes: 20 additions & 0 deletions control/tests/statefbk_test.py
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Expand Up @@ -1272,3 +1272,23 @@ def test_create_statefbk_params(unicycle):
assert [k for k in clsys.params.keys()] == ['K', 'a', 'b']
assert clsys.params['a'] == 2
assert clsys.params['b'] == 1


@pytest.mark.parametrize('ny, nu', [(1, 1), (2, 2), (2, 1)])
@pytest.mark.parametrize(
'method', [
place, place_acker,
pytest.param(place_varga, marks=pytest.mark.slycot)])
def test_place_variants(ny, nu, method):
sys = ct.rss(states=2, inputs=nu, outputs=ny)
desired_poles = -np.arange(1, sys.nstates + 1, 1)

if method == place_acker and sys.ninputs != 1:
with pytest.raises(np.linalg.LinAlgError, match="must be square"):
K = method(sys.A, sys.B, desired_poles)
else:
K = method(sys.A, sys.B, desired_poles)

placed_poles = np.linalg.eigvals(sys.A - sys.B @ K)
np.testing.assert_array_almost_equal(
np.sort(desired_poles), np.sort(placed_poles))
2 changes: 1 addition & 1 deletion examples/cds110-L8a_maglev-limits.ipynb
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Expand Up @@ -253,7 +253,7 @@
"omega = np.linspace(0, 1e6, 100000)\n",
"for name, sys in zip(['C1', 'C2', 'C3'], [magS1, magS2, magS3]):\n",
" freqresp = ct.frequency_response(sys, omega)\n",
" bodeint = np.trapz(np.log(freqresp.magnitude), omega)\n",
" bodeint = np.trapezoid(np.log(freqresp.magnitude), omega)\n",
" print(\"Bode integral for\", name, \"=\", bodeint)\n",
"\n",
"print(\"pi * sum[ Re(pk) ]\", pi * np.sum(magP.poles()[magP.poles().real > 0]))"
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2 changes: 1 addition & 1 deletion examples/cds112-L6_stochastic-linsys.ipynb
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Expand Up @@ -92,7 +92,7 @@
"source": [
"# Calculate the sample properties and make sure they match\n",
"print(\"mean(V) [0.0] = \", np.mean(V))\n",
"print(\"cov(V) * dt [%0.3g] = \" % Q, np.round(np.cov(V), decimals=3) * dt)"
"print(\"cov(V) * dt [%0.3g] = \" % Q.item(), np.round(np.cov(V), decimals=3) * dt)"
]
},
{
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56 changes: 24 additions & 32 deletions examples/stochresp.ipynb
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