def test_LQR_3args(self, matarrayin, matarrayout, method):
if method == 'slycot' and not slycot_check():
return
sys = ss(0., 1., 1., 0.)
Q, R = (matarrayin([[X]]) for X in [10., 2.])
K, S, poles = lqr(sys, Q, R, method=method)
self.check_LQR(K, S, poles, Q, R)
def testLQR_warning(self):
"""Test lqr()
Make sure we get a warning if [Q N;N' R] is not positive semi-definite
"""
# from matlab_test siso.ss2 (testLQR); probably not referenced before
# not yet implemented check
A = np.array([[-2, 3, 1], [-1, 0, 0], [0, 1, 0]])
B = np.array([[-1, 0, 0]]).T
Q = np.eye(3)
R = np.eye(1)
N = np.array([[1, 1, 2]]).T
# assert any(np.linalg.eigvals(np.block([[Q, N], [N.T, R]])) < 0)
with pytest.warns(UserWarning):
(K, S, E) = lqr(A, B, Q, R, N)
def test_LQR_integrator(self, matarrayin, matarrayout, method):
if method == 'slycot' and not slycot_check():
return
A, B, Q, R = (matarrayin([[X]]) for X in [0., 1., 10., 2.])
K, S, poles = lqr(A, B, Q, R, method=method)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_integrator(self):
A, B, Q, R = 0., 1., 10., 2.
K, S, poles = lqr(A, B, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_3args(self):
sys = ss(0., 1., 1., 0.)
Q, R = 10., 2.
K, S, poles = lqr(sys, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_3args(self):
sys = ss(0., 1., 1., 0.)
Q, R = 10., 2.
K, S, poles = lqr(sys, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_integrator(self):
A, B, Q, R = 0., 1., 10., 2.
K, S, poles = lqr(A, B, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_3args(self, matarrayin, matarrayout):
sys = ss(0., 1., 1., 0.)
Q, R = (matarrayin([[X]]) for X in [10., 2.])
K, S, poles = lqr(sys, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_integrator(self, matarrayin, matarrayout):
A, B, Q, R = (matarrayin([[X]]) for X in [0., 1., 10., 2.])
K, S, poles = lqr(A, B, Q, R)
self.check_LQR(K, S, poles, Q, R)
def test_LQR_3args(self):
sys = ss(0.0, 1.0, 1.0, 0.0)
Q, R = 10.0, 2.0
K, S, poles = lqr(sys, Q, R)
self.check_LQR(K, S, poles, Q, R)
