allow matrix and 0dim ndarrays as placeable poles

bnavigator · bnavigator · commit 2039a0dc3014 · 2020-07-29T18:24:19.000+02:00
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -108,7 +108,7 @@ def place(A, B, p):
         raise ControlDimension(err_str)
 
     # Convert desired poles to numpy array
-    placed_eigs = np.array(p)
+    placed_eigs = np.atleast_1d(np.squeeze(np.asarray(p)))
 
     result = place_poles(A_mat, B_mat, placed_eigs, method='YT')
     K = result.gain_matrix
@@ -184,7 +184,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
 
     # Compute the system eigenvalues and convert poles to numpy array
     system_eigs = np.linalg.eig(A_mat)[0]
-    placed_eigs = np.array(p)
+    placed_eigs = np.atleast_1d(np.squeeze(np.asarray(p)))
 
     # Need a character parameter for SB01BD
     if dtime:
@@ -231,7 +231,7 @@ def lqe(A, G, C, QN, RN, NN=None):
     .. math::
         x = Ax + Bu + Gw
         y = Cx + Du + v
-     
+
     with unbiased process noise w and measurement noise v with covariances
 
     .. math::       E{ww'} = QN,    E{vv'} = RN,    E{wv'} = NN
@@ -264,12 +264,12 @@ def lqe(A, G, C, QN, RN, NN=None):
             A P + P A^T - (P C^T + G N) R^-1  (C P + N^T G^T) + G Q G^T = 0
     E: 1D array
         Eigenvalues of estimator poles eig(A - L C)
-        
+
 
     Examples
     --------
-    >>> K, P, E = lqe(A, G, C, QN, RN)
-    >>> K, P, E = lqe(A, G, C, QN, RN, NN)
+    >>> L, P, E = lqe(A, G, C, QN, RN)
+    >>> L, P, E = lqe(A, G, C, QN, RN, NN)
 
     See Also
     --------
@@ -381,7 +381,7 @@ def lqr(*args, **keywords):
     See Also
     --------
     lqe
-    
+
     """
 
     # Make sure that SLICOT is installed
