test cases added for t < A.shape[0]

Jpickard1 · Jpickard1 · commit f8ba0d9caf54 · 2023-11-27T15:25:42.000-05:00
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -1027,7 +1027,7 @@ def ctrb(A, B, t=None):
     ctrb = np.zeros((n, t * m))
     ctrb[:, :m] = bmat
     for k in range(1, t):
-        ctrb[:, k * m:(k + 1) * m] = amat @ ctrb[:, (k - 1) * m:k * m]
+        ctrb[:, k * m:(k + 1) * m] = np.dot(amat, ctrb[:, (k - 1) * m:k * m])
 
     return _ssmatrix(ctrb)
 
@@ -1070,7 +1070,7 @@ def obsv(A, C, t=None):
     obsv[:p, :] = cmat
         
     for k in range(1, t):
-        obsv[k * p:(k + 1) * p, :] = obsv[(k - 1) * p:k * p, :] @ amat
+        obsv[k * p:(k + 1) * p, :] = np.dot(obsv[(k - 1) * p:k * p, :], amat)
 
     return _ssmatrix(obsv)
 
diff --git a/control/tests/statefbk_test.py b/control/tests/statefbk_test.py
@@ -49,6 +49,14 @@ def testCtrbMIMO(self):
         Wc = ctrb(A, B)
         np.testing.assert_array_almost_equal(Wc, Wctrue)
 
+    def testCtrbT(self):
+        A = np.array([[1., 2.], [3., 4.]])
+        B = np.array([[5., 6.], [7., 8.]])
+        t = 1
+        Wctrue = np.array([[5., 6.], [7., 8.]])
+        Wc = ctrb(A, B, t=t)
+        np.testing.assert_array_almost_equal(Wc, Wctrue)
+        
     def testObsvSISO(self):
         A = np.array([[1., 2.], [3., 4.]])
         C = np.array([[5., 7.]])
@@ -62,6 +70,14 @@ def testObsvMIMO(self):
         Wotrue = np.array([[5., 6.], [7., 8.], [23., 34.], [31., 46.]])
         Wo = obsv(A, C)
         np.testing.assert_array_almost_equal(Wo, Wotrue)
+        
+    def testObsvT(self):
+        A = np.array([[1., 2.], [3., 4.]])
+        C = np.array([[5., 6.], [7., 8.]])
+        t = 1
+        Wotrue = np.array([[5., 6.], [7., 8.]])
+        Wo = obsv(A, C, t=t)
+        np.testing.assert_array_almost_equal(Wo, Wotrue)
 
     def testCtrbObsvDuality(self):
         A = np.array([[1.2, -2.3], [3.4, -4.5]])
