Merge branch 'main' into test-norm-methods

bnavigator · web-flow · commit 7204aa24878d · 2026-02-15T18:00:05.000+01:00
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -251,7 +251,7 @@ def place_acker(A, B, poles):
         pmat = pmat + p[n-i-1] * np.linalg.matrix_power(A, i)
     K = np.linalg.solve(ct, pmat)
 
-    K = K[-1, :]                # Extract the last row
+    K = K[-1:, :]               # Extract the last row
     return K
 
 
diff --git a/control/tests/statefbk_test.py b/control/tests/statefbk_test.py
@@ -1272,3 +1272,23 @@ def test_create_statefbk_params(unicycle):
     assert [k for k in clsys.params.keys()] == ['K', 'a', 'b']
     assert clsys.params['a'] == 2
     assert clsys.params['b'] == 1
+
+
+@pytest.mark.parametrize('ny, nu', [(1, 1), (2, 2), (2, 1)])
+@pytest.mark.parametrize(
+    'method', [
+        place, place_acker,
+        pytest.param(place_varga, marks=pytest.mark.slycot)])
+def test_place_variants(ny, nu, method):
+    sys = ct.rss(states=2, inputs=nu, outputs=ny)
+    desired_poles = -np.arange(1, sys.nstates + 1, 1)
+
+    if method == place_acker and sys.ninputs != 1:
+        with pytest.raises(np.linalg.LinAlgError, match="must be square"):
+            K = method(sys.A, sys.B, desired_poles)
+    else:
+        K = method(sys.A, sys.B, desired_poles)
+
+        placed_poles = np.linalg.eigvals(sys.A - sys.B @ K)
+        np.testing.assert_array_almost_equal(
+            np.sort(desired_poles), np.sort(placed_poles))
diff --git a/examples/cds110-L8a_maglev-limits.ipynb b/examples/cds110-L8a_maglev-limits.ipynb
@@ -253,7 +253,7 @@
     "omega = np.linspace(0, 1e6, 100000)\n",
     "for name, sys in zip(['C1', 'C2', 'C3'], [magS1, magS2, magS3]):\n",
     "    freqresp = ct.frequency_response(sys, omega)\n",
-    "    bodeint = sp.trapezoid(np.log(freqresp.magnitude), omega)\n",
+    "    bodeint = np.trapezoid(np.log(freqresp.magnitude), omega)\n",
     "    print(\"Bode integral for\", name, \"=\", bodeint)\n",
     "\n",
     "print(\"pi * sum[ Re(pk) ]\", pi * np.sum(magP.poles()[magP.poles().real > 0]))"
diff --git a/examples/cds112-L6_stochastic-linsys.ipynb b/examples/cds112-L6_stochastic-linsys.ipynb
@@ -92,7 +92,7 @@
    "source": [
     "# Calculate the sample properties and make sure they match\n",
     "print(\"mean(V) [0.0] = \", np.mean(V))\n",
-    "print(\"cov(V) * dt [%0.3g] = \" % Q, np.round(np.cov(V), decimals=3) * dt)"
+    "print(\"cov(V) * dt [%0.3g] = \" % Q.item(), np.round(np.cov(V), decimals=3) * dt)"
    ]
   },
   {
diff --git a/examples/stochresp.ipynb b/examples/stochresp.ipynb

Original file line number	Diff line number	Diff line change
`@@ -92,7 +92,7 @@`
`92`	`92`	`"source": [`
`93`	`93`	`"# Calculate the sample properties and make sure they match\n",`
`94`	`94`	`"print(\"mean(V) [0.0] = \", np.mean(V))\n",`
`95`		`- "print(\"cov(V) * dt [%0.3g] = \" % Q, np.round(np.cov(V), decimals=3) * dt)"`
	`95`	`+ "print(\"cov(V) * dt [%0.3g] = \" % Q.item(), np.round(np.cov(V), decimals=3) * dt)"`
`96`	`96`	`]`
`97`	`97`	`},`
`98`	`98`	`{`