fix unit test issue (change in error message)

murrayrm · murrayrm · commit f566656099f4 · 2025-02-02T21:30:22.000-08:00
diff --git a/control/mateqn.py b/control/mateqn.py
@@ -108,9 +108,9 @@ def lyap(A, Q, C=None, E=None, method=None):
     method = _slycot_or_scipy(method)
     if method == 'slycot':
         if sb03md is None:
-            raise ControlSlycot("Can't find Slycot module 'sb03md'")
+            raise ControlSlycot("Can't find slycot module 'sb03md'")
         if sb04md is None:
-            raise ControlSlycot("Can't find Slycot module 'sb04md'")
+            raise ControlSlycot("Can't find slycot module 'sb04md'")
 
     # Reshape input arrays
     A = np.array(A, ndmin=2)
@@ -170,7 +170,7 @@ def lyap(A, Q, C=None, E=None, method=None):
             from slycot import sg03ad
 
         except ImportError:
-            raise ControlSlycot("Can't find Slycot module 'sg03ad'")
+            raise ControlSlycot("Can't find slycot module 'sg03ad'")
 
         # Solve the generalized Lyapunov equation by calling Slycot
         # function sg03ad
@@ -236,11 +236,11 @@ def dlyap(A, Q, C=None, E=None, method=None):
     if method == 'slycot':
         # Make sure we have access to the right slycot routines
         if sb03md is None:
-            raise ControlSlycot("Can't find Slycot module 'sb03md'")
+            raise ControlSlycot("Can't find slycot module 'sb03md'")
         if sb04qd is None:
-            raise ControlSlycot("Can't find Slycot module 'sb04qd'")
+            raise ControlSlycot("Can't find slycot module 'sb04qd'")
         if sg03ad is None:
-            raise ControlSlycot("Can't find Slycot module 'sg03ad'")
+            raise ControlSlycot("Can't find slycot module 'sg03ad'")
 
     # Reshape input arrays
     A = np.array(A, ndmin=2)
@@ -403,12 +403,12 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None,
         try:
             from slycot import sb02md
         except ImportError:
-            raise ControlSlycot("Can't find Slycot module 'sb02md'")
+            raise ControlSlycot("Can't find slycot module 'sb02md'")
 
         try:
             from slycot import sb02mt
         except ImportError:
-            raise ControlSlycot("Can't find Slycot module 'sb02mt'")
+            raise ControlSlycot("Can't find slycot module 'sb02mt'")
 
         # Solve the standard algebraic Riccati equation by calling Slycot
         # functions sb02mt and sb02md
@@ -449,7 +449,7 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None,
         try:
             from slycot import sg02ad
         except ImportError:
-            raise ControlSlycot("Can't find Slycot module 'sg02ad'")
+            raise ControlSlycot("Can't find slycot module sg02ad")
 
         # Solve the generalized algebraic Riccati equation by calling the
         # Slycot function sg02ad
@@ -568,7 +568,7 @@ def dare(A, B, Q, R, S=None, E=None, stabilizing=True, method=None,
     try:
         from slycot import sg02ad
     except ImportError:
-        raise ControlSlycot("Can't find Slycot module 'sg02ad'")
+        raise ControlSlycot("Can't find slycot module sg02ad")
 
     # Initialize optional matrices
     S = np.zeros((n, m)) if S is None else np.array(S, ndmin=2)
diff --git a/control/modelsimp.py b/control/modelsimp.py
@@ -295,7 +295,7 @@ def balanced_reduction(sys, orders, method='truncate', alpha=None):
     ValueError
         If `method` is not 'truncate' or 'matchdc'.
     ImportError
-        If Slycot routine ab09ad, ab09md, or ab09nd is not found.
+        If slycot routine ab09ad, ab09md, or ab09nd is not found.
     ValueError
         If there are more unstable modes than any value in orders.
 
@@ -314,12 +314,12 @@ def balanced_reduction(sys, orders, method='truncate', alpha=None):
             from slycot import ab09ad, ab09md
         except ImportError:
             raise ControlSlycot(
-                "can't find Slycot subroutine ab09md or ab09ad")
+                "can't find slycot subroutine ab09md or ab09ad")
     elif method == 'matchdc':
         try:
             from slycot import ab09nd
         except ImportError:
-            raise ControlSlycot("can't find Slycot subroutine ab09nd")
+            raise ControlSlycot("can't find slycot subroutine ab09nd")
 
     # Check for ss system object, need a utility for this?
 
diff --git a/control/robust.py b/control/robust.py
@@ -34,7 +34,7 @@ def h2syn(P, nmeas, ncon):
     Raises
     ------
     ImportError
-        If Slycot routine sb10hd is not loaded.
+        If slycot routine sb10hd is not loaded.
 
     See Also
     --------
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -163,7 +163,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
     try:
         from slycot import sb01bd
     except ImportError:
-        raise ControlSlycot("can't find slycot module 'sb01bd'")
+        raise ControlSlycot("can't find slycot module sb01bd")
 
     # Convert the system inputs to NumPy arrays
     A_mat = _ssmatrix(A, square=True, name="A")
@@ -1181,7 +1181,7 @@ def gram(sys, type):
         # Compute Gramian by the Slycot routine sb03md
         # make sure Slycot is installed
         if sb03md is None:
-            raise ControlSlycot("can't find slycot module 'sb03md'")
+            raise ControlSlycot("can't find slycot module sb03md")
         if type == 'c':
             tra = 'T'
             C = -sys.B @ sys.B.T
@@ -1199,7 +1199,7 @@ def gram(sys, type):
     elif type == 'cf' or type == 'of':
         # Compute Cholesky factored Gramian from Slycot routine sb03od
         if sb03od is None:
-            raise ControlSlycot("can't find slycot module 'sb03od'")
+            raise ControlSlycot("can't find slycot module sb03od")
         tra = 'N'
         n = sys.nstates
         Q = np.zeros((n, n))
diff --git a/control/statesp.py b/control/statesp.py
@@ -1182,7 +1182,7 @@ def minreal(self, tol=0.0):
                 return StateSpace(A[:nr, :nr], B[:nr, :self.ninputs],
                                   C[:self.noutputs, :nr], self.D, self.dt)
             except ImportError:
-                raise TypeError("minreal requires Slycot tb01pd")
+                raise TypeError("minreal requires slycot tb01pd")
         else:
             return StateSpace(self)
 
@@ -2004,7 +2004,7 @@ def linfnorm(sys, tol=1e-10):
 
     """
     if ab13dd is None:
-        raise ControlSlycot("Can't find slycot module 'ab13dd'")
+        raise ControlSlycot("Can't find slycot module ab13dd")
 
     a, b, c, d = ssdata(_convert_to_statespace(sys))
     e = np.eye(a.shape[0])
diff --git a/control/stochsys.py b/control/stochsys.py
@@ -472,7 +472,8 @@ def create_estimator_iosystem(
     # Set the output matrices
     if C is not None:
         # Make sure we have full system output (allowing for numerical errors)
-        if not np.allclose(sys.C, np.eye(sys.nstates)):
+        if sys.C.shape[0] != sys.nstates or \
+           not np.allclose(sys.C, np.eye(sys.nstates)):
             raise ValueError("System output must be full state")
 
         # Make sure that the output matches the size of RN
diff --git a/control/sysnorm.py b/control/sysnorm.py
@@ -28,13 +28,13 @@ def _h2norm_slycot(sys, print_warning=True):
     try:
         from slycot import ab13bd
     except ImportError:
-        ct.ControlSlycot("Can't find slycot module `ab13bd`!")
+        ct.ControlSlycot("Can't find slycot module ab13bd")
 
     try:
         from slycot.exceptions import SlycotArithmeticError
     except ImportError:
         raise ct.ControlSlycot(
-            "Can't find slycot class `SlycotArithmeticError`!")
+            "Can't find slycot class SlycotArithmeticError")
 
     A, B, C, D = ct.ssdata(ct.ss(sys))
 
