May 18, 2019 · May 18, 2019 · May 18, 2019
diff --git a/control/statefbk.py b/control/statefbk.py

    return K, S, E

 def ctrb(A,B):
 def ctrb(A,B):
    """Controllabilty matrix

    Parameters
    amat = np.mat(A)
    bmat = np.mat(B)
    n = np.shape(amat)[0]

    # Construct the controllability matrix
    ctrb = bmat
    for i in range(1, n):
        ctrb = np.hstack((ctrb, amat**i*bmat))
    ctrb = np.hstack([bmat] + [amat**i*bmat for i in range(1, n)])
    return ctrb

 def obsv(A, C):
    cmat = np.mat(C)
    n = np.shape(amat)[0]

    # Construct the controllability matrix
    obsv = cmat
    for i in range(1, n):
        obsv = np.vstack((obsv, cmat*amat**i))
    # Construct the observability matrix
    obsv = np.vstack([cmat] + [cmat*amat**i for i in range(1, n)])
    return obsv

 def gram(sys,type):
Original file line number	Diff line number	Diff line change
Expand Up		@@ -368,7 +368,7 @@ def lqr(args, *keywords):

		return K, S, E

		def ctrb(A,B):
		def ctrb(A,B):
		"""Controllabilty matrix

		Parameters
Expand All		@@ -391,10 +391,9 @@ def ctrb(A,B):
		amat = np.mat(A)
		bmat = np.mat(B)
		n = np.shape(amat)[0]

		# Construct the controllability matrix
		ctrb = bmat
		for i in range(1, n):
		ctrb = np.hstack((ctrb, amat*ibmat))
		ctrb = np.hstack([bmat] + [amat*ibmat for i in range(1, n)])
		return ctrb

		def obsv(A, C):
Expand All		@@ -421,10 +420,8 @@ def obsv(A, C):
		cmat = np.mat(C)
		n = np.shape(amat)[0]

		# Construct the controllability matrix
		obsv = cmat
		for i in range(1, n):
		obsv = np.vstack((obsv, cmatamat*i))
		# Construct the observability matrix
		obsv = np.vstack([cmat] + [cmatamat*i for i in range(1, n)])
		return obsv

		def gram(sys,type):
Expand Down