fix optimal unit tests (matrix case) + PEP8

murrayrm · murrayrm · commit d01a52cdce11 · 2022-03-12T07:57:33.000-08:00
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -745,7 +745,7 @@ def nlsys_output(t, x, u, params):
             return C @ x
         nlsys = ct.NonlinearIOSystem(
             nlsys_update, nlsys_output, inputs=1, outputs=1, states=2, dt=True)
-        
+
         # Set up parameters for simulation
         T, U, X0 = tsys.T, tsys.U, tsys.X0
 
diff --git a/control/tests/optimal_test.py b/control/tests/optimal_test.py
@@ -91,7 +91,7 @@ def test_discrete_lqr():
         lqr_sys, time, 0, x0, return_x=True)
 
     # Use LQR input as initial guess to avoid convergence/precision issues
-    lqr_u = -K @ lqr_x[0:time.size]
+    lqr_u = np.array(-K @ lqr_x[0:time.size]) # convert from matrix
 
     # Formulate the optimal control problem and compute optimal trajectory
     optctrl = opt.OptimalControlProblem(
