Add full example to create_statefbk_iosystem

KybernetikJo · KybernetikJo · commit d0aa48adb2de · 2023-07-13T23:09:44.000+02:00
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -721,6 +721,23 @@ def create_statefbk_iosystem(
         System name. If unspecified, a generic name <sys[id]> is generated
         with a unique integer id.
 
+    Examples
+    --------
+    >>> import control as ct
+    >>> import numpy as np
+    >>>
+    >>> A = [[0, 1], [-0.5, -0.1]]
+    >>> B = [[0], [1]]
+    >>> C = np.eye(2)
+    >>> D = np.zeros((2, 1))
+    >>> sys = ct.ss(A, B, C, D)
+    >>>
+    >>> Q = np.eye(2)
+    >>> R = np.eye(1)
+    >>>
+    >>> K, _, _ = ct.lqr(sys,Q,R)
+    >>> ctrl, clsys = ct.create_statefbk_iosystem(sys, K)
+
     """
     # Make sure that we were passed an I/O system as an input
     if not isinstance(sys, NonlinearIOSystem):
