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Fix Travis CI failure (lqr bad argument) #253

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Merged
murrayrm merged 2 commits into from
Dec 22, 2018
Merged

Fix Travis CI failure (lqr bad argument) #253

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84681cd
TRV: docstring fix
murrayrm Dec 21, 2018
cc4508c
fix bad lqr test case (cross term not pos def)
murrayrm Dec 21, 2018
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2 changes: 1 addition & 1 deletion control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -385,7 +385,7 @@ def evalfr(self, omega):
with input value s = i * omega.

"""
warn("StateSpace.evalfr(omega) will be depracted in a future "
warn("StateSpace.evalfr(omega) will be deprecated in a future "
"release of python-control; use evalfr(sys, omega*1j) instead",
PendingDeprecationWarning)
return self._evalfr(omega)
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8 changes: 8 additions & 0 deletions control/tests/matlab_test.py
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Expand Up @@ -414,6 +414,14 @@ def testAcker(self):
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testLQR(self):
(K, S, E) = lqr(self.siso_ss1.A, self.siso_ss1.B, np.eye(2), np.eye(1))

# Should work if [Q N;N' R] is positive semi-definite
(K, S, E) = lqr(self.siso_ss2.A, self.siso_ss2.B, 10*np.eye(3), \
np.eye(1), [[1], [1], [2]])

@unittest.skip("check not yet implemented")
def testLQR_checks(self):
# Make sure we get a warning if [Q N;N' R] is not positive semi-definite
(K, S, E) = lqr(self.siso_ss2.A, self.siso_ss2.B, np.eye(3), \
np.eye(1), [[1], [1], [2]])

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