def testCtrbSISO(self, matarrayin, matarrayout):
A = matarrayin([[1., 2.], [3., 4.]])
B = matarrayin([[5.], [7.]])
Wctrue = np.array([[5., 19.], [7., 43.]])
with check_deprecated_matrix():
Wc = ctrb(A, B)
assert ismatarrayout(Wc)
np.testing.assert_array_almost_equal(Wc, Wctrue)
def testGramWc(self, matarrayin, matarrayout):
A = matarrayin([[1., -2.], [3., -4.]])
B = matarrayin([[5., 6.], [7., 8.]])
C = matarrayin([[4., 5.], [6., 7.]])
D = matarrayin([[13., 14.], [15., 16.]])
sys = ss(A, B, C, D)
Wctrue = np.array([[18.5, 24.5], [24.5, 32.5]])
with check_deprecated_matrix():
Wc = gram(sys, 'c')
assert ismatarrayout(Wc)
np.testing.assert_array_almost_equal(Wc, Wctrue)