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GeezerVison is showing github.com — fix return shape for place_acker (#1190) · python-control/python-control@3215681

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control
- statefbk.py
- tests
  - statefbk_test.py

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`‎control/statefbk.py‎`

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+1-1Lines changed: 1 addition & 1 deletion

Original file line number	Diff line number	Diff line change
`@@ -251,7 +251,7 @@ def place_acker(A, B, poles):`
`251`	`251`	`pmat = pmat + p[n-i-1] * np.linalg.matrix_power(A, i)`
`252`	`252`	`K = np.linalg.solve(ct, pmat)`
`253`	`253`
`254`		`- K = K[-1, :] # Extract the last row`
	`254`	`+ K = K[-1:, :] # Extract the last row`
`255`	`255`	`return K`
`256`	`256`
`257`	`257`

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`‎control/tests/statefbk_test.py‎`

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+17Lines changed: 17 additions & 0 deletions

Original file line number	Diff line number	Diff line change
`@@ -1272,3 +1272,20 @@ def test_create_statefbk_params(unicycle):`
`1272`	`1272`	`assert [k for k in clsys.params.keys()] == ['K', 'a', 'b']`
`1273`	`1273`	`assert clsys.params['a'] == 2`
`1274`	`1274`	`assert clsys.params['b'] == 1`
	`1275`	`+`
	`1276`	`+`
	`1277`	`+@pytest.mark.parametrize('ny, nu', [(1, 1), (2, 2), (2, 1)])`
	`1278`	`+@pytest.mark.parametrize('method', [place, place_varga, place_acker])`
	`1279`	`+def test_place_variants(ny, nu, method):`
	`1280`	`+ sys = ct.rss(states=2, inputs=nu, outputs=ny)`
	`1281`	`+ desired_poles = -np.arange(1, sys.nstates + 1, 1)`
	`1282`	`+`
	`1283`	`+ if method == place_acker and sys.ninputs != 1:`
	`1284`	`+ with pytest.raises(np.linalg.LinAlgError, match="must be square"):`
	`1285`	`+ K = method(sys.A, sys.B, desired_poles)`
	`1286`	`+ else:`
	`1287`	`+ K = method(sys.A, sys.B, desired_poles)`
	`1288`	`+`
	`1289`	`+ placed_poles = np.linalg.eigvals(sys.A - sys.B @ K)`
	`1290`	`+ np.testing.assert_array_almost_equal(`
	`1291`	`+ np.sort(desired_poles), np.sort(placed_poles))`

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