YT algo cannot place multiple poles at the same location when rk(B)=1. Also, aadd tests for control dimension checks.

rabraker · rabraker · commit 186d6d8e8468 · 2018-01-03T00:38:11.000-07:00
diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
@@ -400,9 +400,8 @@ def testModred(self):
         modred(self.siso_ss3, [1], 'matchdc')
         modred(self.siso_ss3, [1], 'truncate')
 
-    @unittest.skipIf(not slycot_check(), "slycot not installed")
     def testPlace(self):
-        place(self.siso_ss1.A, self.siso_ss1.B, [-2, -2])
+        place(self.siso_ss1.A, self.siso_ss1.B, [-2, -2.5])
 
     @unittest.skipIf(not slycot_check(), "slycot not installed")
     def testLQR(self):
diff --git a/control/tests/statefbk_test.py b/control/tests/statefbk_test.py
@@ -8,7 +8,7 @@
 import numpy as np
 from control.statefbk import ctrb, obsv, place, lqr, gram, acker
 from control.matlab import *
-from control.exception import slycot_check
+from control.exception import slycot_check, ControlDimension
 
 class TestStatefbk(unittest.TestCase):
     """Test state feedback functions"""
@@ -168,14 +168,18 @@ def testPlace(self):
                       [1.136,  1.136],
                       [0,      0,],
                       [-3.146,  0]])
-        P = np.array([-0.2, -0.5, -5.0566, -8.6659])
+        P = np.array([-0.5+1j, -0.5-1j, -5.0566, -8.6659])
         K = place(A, B, P)
         P_placed = np.linalg.eigvals(A - B.dot(K))
         # No guarantee of the ordering, so sort them
         P.sort()
         P_placed.sort()
         np.testing.assert_array_almost_equal(P, P_placed)
 
+        # Test that the dimension checks work.
+        np.testing.assert_raises(ControlDimension, place, A[1:, :], B, P)
+        np.testing.assert_raises(ControlDimension, place, A, B[1:, :], P)
+
     def check_LQR(self, K, S, poles, Q, R):
         S_expected = np.array(np.sqrt(Q * R))
         K_expected = S_expected / R
