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Improveacker pole placement doc#1006

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slivingston merged 3 commits intopython-control:mainfrompierre-haessig:doc-acker
May 23, 2024

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pierre-haessig
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Hello,

This is a follow-up of#1004, still on pole placement, but now turning toacker docstring.

As a first step, this adds a "See Also" section toplace andplace varga.

However, I have two more ideas to extend this PR:

  • add reference to the Ackermann's formula. I've found § 2.3.5 in the "Linear Control Theory" book by F. W. Fairman, 1998, but I'm not sure it matches perfectly with what's implemented.
  • to the best of my (quite limited) knownledge, Ackermann's formula is forsingle input systems (and I got some linear algebra error on a test with a system with 2 inputs). If correct, I suggest to add aValueError ifB.shape[1] > 1.

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coveralls commentedMay 21, 2024•
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Coverage Status

coverage: 94.504%. remained the same
when pulling60a7bfa on pierre-haessig:doc-acker
into87a0550 on python-control:main.

@pierre-haessig
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Oups, I didn't see PR#1007 and pushed my own commit to fixplace_varga doctring. Now I have to fix the conflict!

(mostly reverts commit commit4f0e9b7)
@pierre-haessig
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Now I have to fix the conflict!

Done!

@slivingstonslivingston self-assigned thisMay 23, 2024
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@pierre-haessig Thanks! I am going to squash-merge this because thesecond commit is not used after you resolved the conflict.

@slivingstonslivingston merged commite1d21d2 intopython-control:mainMay 23, 2024
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Regarding the other two items in your opening post:

  1. For widely known results like Ackermann's formula, I recommend to use an open access reference, if available. The bookFeedback Systems can be used for this. Ackermann's formula is given in equation (7.21) in Chapter 7.
  2. Ackermann's formula is only for single-input systems. This aligns with the similaracker function in Matlab. The function always raises an exception if the system has more than 1 input, but the error message may be confusing. We could add a check withValueError as you suggest, or the documentation can add a note about single-input systems (or both). Feel free to create another pull request with it.

As an aside, I was not able to find a description ofacker in theofficial Matlab documentation. Perhaps they removed it?

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pierre-haessig commentedMay 27, 2024•
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As an aside, I was not able to find a description ofacker in theofficial Matlab documentation. Perhaps they removed it?

Neither did I. I only found an online copy of a unspecified Matlab version here:www.ece.northwestern.edu/local-apps/matlabhelp/toolbox/control/ref/acker.html (in the source code, the date 2002 is mentioned). I don't know when it was removed.

[Edit: sorry, I didn't see you were mentioning the exact same link for Matlab'sacker doc...]

@murrayrmmurrayrm added this to the0.10.1 milestoneJun 30, 2024
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