Dec 30, 2019 · Nov 18, 2019 · Nov 18, 2019 · Nov 18, 2019 · Nov 18, 2019
diff --git a/control/mateqn.py b/control/mateqn.py
 Author: Bjorn Olofsson
 """

 from numpy import shape, size, array, asarray, copy, zeros, eye, dot
 from numpy import shape, size, asarray, copy, zeros, eye, dot, \
    finfo, inexact, atleast_2d
 from scipy.linalg import eigvals, solve_discrete_are, solve
 from .exception import ControlSlycot, ControlArgument
 from .statesp import _ssmatrix
        if size(Q) > 1 and shape(Q)[0] != shape(Q)[1]:
            raise ControlArgument("Q must be a quadratic matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        # Solve the Lyapunov equation by calling Slycot function sb03md
            raise ControlArgument("E must be a square matrix with the same \
                dimension as A.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        # Make sure we have access to the write slicot routine
        if size(Q) > 1 and shape(Q)[0] != shape(Q)[1]:
            raise ControlArgument("Q must be a quadratic matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        # Solve the Lyapunov equation by calling the Slycot function sb03md
            raise ControlArgument("E must be a square matrix with the same \
                dimension as A.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        # Solve the generalized Lyapunov equation by calling Slycot
            size(B) == 1 and n > 1:
            raise ControlArgument("Incompatible dimensions of B matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        if not(asarray(R) == asarray(R).T).all():
        if not_is_symmetric(R):
            raise ControlArgument("R must be a symmetric matrix.")

        # Create back-up of arrays needed for later computations
            size(S) == 1 and m > 1:
            raise ControlArgument("Incompatible dimensions of S matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        if not(asarray(R) == asarray(R).T).all():
        if not_is_symmetric(R):
            raise ControlArgument("R must be a symmetric matrix.")

        # Create back-up of arrays needed for later computations
            size(B) == 1 and n > 1:
            raise ControlArgument("Incompatible dimensions of B matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        if not(asarray(R) == asarray(R).T).all():
        if not_is_symmetric(R):
            raise ControlArgument("R must be a symmetric matrix.")

        # Create back-up of arrays needed for later computations
            size(S) == 1 and m > 1:
            raise ControlArgument("Incompatible dimensions of S matrix.")

        if not(asarray(Q) == asarray(Q).T).all():
        if not_is_symmetric(Q):
            raise ControlArgument("Q must be a symmetric matrix.")

        if not(asarray(R) == asarray(R).T).all():
        if not_is_symmetric(R):
            raise ControlArgument("R must be a symmetric matrix.")

        # Create back-up of arrays needed for later computations
    # Invalid set of input parameters
    else:
        raise ControlArgument("Invalid set of input parameters.")


 def _is_symmetric(M):
    M = atleast_2d(M)
    if isinstance(M[0, 0], inexact):
        eps = finfo(M.dtype).eps
        return ((M - M.T) < eps).all()
    else:
        return (M == M.T).all()
Original file line number	Diff line number	Diff line change
Expand Up		@@ -41,7 +41,8 @@
		Author: Bjorn Olofsson
		"""

		from numpy import shape, size, array, asarray, copy, zeros, eye, dot
		from numpy import shape, size, asarray, copy, zeros, eye, dot, \
		finfo, inexact, atleast_2d
		from scipy.linalg import eigvals, solve_discrete_are, solve
		from .exception import ControlSlycot, ControlArgument
		from .statesp import _ssmatrix
Expand DownExpand Up		@@ -122,7 +123,7 @@ def lyap(A, Q, C=None, E=None):
		if size(Q) > 1 and shape(Q)[0] != shape(Q)[1]:
		raise ControlArgument("Q must be a quadratic matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		# Solve the Lyapunov equation by calling Slycot function sb03md
Expand DownExpand Up		@@ -188,7 +189,7 @@ def lyap(A, Q, C=None, E=None):
		raise ControlArgument("E must be a square matrix with the same \
		dimension as A.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		# Make sure we have access to the write slicot routine
Expand DownExpand Up		@@ -309,7 +310,7 @@ def dlyap(A,Q,C=None,E=None):
		if size(Q) > 1 and shape(Q)[0] != shape(Q)[1]:
		raise ControlArgument("Q must be a quadratic matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		# Solve the Lyapunov equation by calling the Slycot function sb03md
Expand DownExpand Up		@@ -371,7 +372,7 @@ def dlyap(A,Q,C=None,E=None):
		raise ControlArgument("E must be a square matrix with the same \
		dimension as A.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		# Solve the generalized Lyapunov equation by calling Slycot
Expand DownExpand Up		@@ -500,10 +501,10 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True):
		size(B) == 1 and n > 1:
		raise ControlArgument("Incompatible dimensions of B matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		if not(asarray(R) == asarray(R).T).all():
		if not_is_symmetric(R):
		raise ControlArgument("R must be a symmetric matrix.")

		# Create back-up of arrays needed for later computations
Expand DownExpand Up		@@ -603,10 +604,10 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True):
		size(S) == 1 and m > 1:
		raise ControlArgument("Incompatible dimensions of S matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		if not(asarray(R) == asarray(R).T).all():
		if not_is_symmetric(R):
		raise ControlArgument("R must be a symmetric matrix.")

		# Create back-up of arrays needed for later computations
Expand DownExpand Up		@@ -775,10 +776,10 @@ def dare_old(A, B, Q, R, S=None, E=None, stabilizing=True):
		size(B) == 1 and n > 1:
		raise ControlArgument("Incompatible dimensions of B matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		if not(asarray(R) == asarray(R).T).all():
		if not_is_symmetric(R):
		raise ControlArgument("R must be a symmetric matrix.")

		# Create back-up of arrays needed for later computations
Expand DownExpand Up		@@ -882,10 +883,10 @@ def dare_old(A, B, Q, R, S=None, E=None, stabilizing=True):
		size(S) == 1 and m > 1:
		raise ControlArgument("Incompatible dimensions of S matrix.")

		if not(asarray(Q) == asarray(Q).T).all():
		if not_is_symmetric(Q):
		raise ControlArgument("Q must be a symmetric matrix.")

		if not(asarray(R) == asarray(R).T).all():
		if not_is_symmetric(R):
		raise ControlArgument("R must be a symmetric matrix.")

		# Create back-up of arrays needed for later computations
Expand DownExpand Up		@@ -960,3 +961,12 @@ def dare_old(A, B, Q, R, S=None, E=None, stabilizing=True):
		# Invalid set of input parameters
		else:
		raise ControlArgument("Invalid set of input parameters.")


		def _is_symmetric(M):
		M = atleast_2d(M)
		if isinstance(M[0, 0], inexact):
		eps = finfo(M.dtype).eps
		return ((M - M.T) < eps).all()
		else:
		return (M == M.T).all()