def testPlace(self):
# Matrices shamelessly stolen from scipy example code.
A = np.array([[1.380, -0.2077, 6.715, -5.676],
[-0.5814, -4.290, 0, 0.6750],
[1.067, 4.273, -6.654, 5.893],
[0.0480, 4.273, 1.343, -2.104]])
B = np.array([[0, 5.679],
[1.136, 1.136],
[0, 0,],
[-3.146, 0]])
P = np.array([-0.5+1j, -0.5-1j, -5.0566, -8.6659])
K = place(A, B, P)
P_placed = np.linalg.eigvals(A - B.dot(K))
# No guarantee of the ordering, so sort them
P.sort()
P_placed.sort()
np.testing.assert_array_almost_equal(P, P_placed)
# Test that the dimension checks work.
np.testing.assert_raises(ControlDimension, place, A[1:, :], B, P)
np.testing.assert_raises(ControlDimension, place, A, B[1:, :], P)
# Check that we get an error if we ask for too many poles in the same
# location. Here, rank(B) = 2, so lets place three at the same spot.
P_repeated = np.array([-0.5, -0.5, -0.5, -8.6659])
np.testing.assert_raises(ValueError, place, A, B, P_repeated)
def testPlace(self):
# Matrices shamelessly stolen from scipy example code.
A = np.array([[1.380, -0.2077, 6.715, -5.676],
[-0.5814, -4.290, 0, 0.6750],
[1.067, 4.273, -6.654, 5.893],
[0.0480, 4.273, 1.343, -2.104]])
B = np.array([[0, 5.679],
[1.136, 1.136],
[0, 0,],
[-3.146, 0]])
P = np.array([-0.5+1j, -0.5-1j, -5.0566, -8.6659])
K = place(A, B, P)
P_placed = np.linalg.eigvals(A - B.dot(K))
# No guarantee of the ordering, so sort them
P.sort()
P_placed.sort()
np.testing.assert_array_almost_equal(P, P_placed)
# Test that the dimension checks work.
np.testing.assert_raises(ControlDimension, place, A[1:, :], B, P)
np.testing.assert_raises(ControlDimension, place, A, B[1:, :], P)
# Check that we get an error if we ask for too many poles in the same
# location. Here, rank(B) = 2, so lets place three at the same spot.
P_repeated = np.array([-0.5, -0.5, -0.5, -8.6659])
np.testing.assert_raises(ValueError, place, A, B, P_repeated)
def testPlace(self, matarrayin):
# Matrices shamelessly stolen from scipy example code.
A = matarrayin([[1.380, -0.2077, 6.715, -5.676],
[-0.5814, -4.290, 0, 0.6750],
[1.067, 4.273, -6.654, 5.893],
[0.0480, 4.273, 1.343, -2.104]])
B = matarrayin([[0, 5.679], [1.136, 1.136], [0, 0], [-3.146, 0]])
P = matarrayin([-0.5 + 1j, -0.5 - 1j, -5.0566, -8.6659])
K = place(A, B, P)
assert ismatarrayout(K)
P_placed = np.linalg.eigvals(A - B @ K)
self.checkPlaced(P, P_placed)
# Test that the dimension checks work.
with pytest.raises(ControlDimension):
place(A[1:, :], B, P)
with pytest.raises(ControlDimension):
place(A, B[1:, :], P)
# Check that we get an error if we ask for too many poles in the same
# location. Here, rank(B) = 2, so lets place three at the same spot.
P_repeated = matarrayin([-0.5, -0.5, -0.5, -8.6659])
with pytest.raises(ValueError):
place(A, B, P_repeated)
