Observer with pole placement doesn't work for n=3 #995
Description
Hello.
I've been experimenting with the toolbox and stumbled upon the following problem:
- For n=2 the pole placement function works without issues for both controller and observer design for all types of call conventions
- For n=3 the pole placement only works for the controller, the observer case it throws an error for all types of call conventions but one.
Example of the code I used:
using ControlSystems
#
# n = 2
#
A2 = [ 0.0 1.0; 0.0 -20.0];
B2 = [ 0.0; 4.0]
C2 = [1.0 0.0]
plant2 = ss(A2, B2, C2, 0)
observability(A2, C2) # OK
controllability(A2, B2) # OK
poles2 = [-20 -20.1]
L2 = place(plant2, poles2, :c);
L2matrices = place(A2, B2, poles2, :c);
K2 = place(plant2, poles2, :o)'; # Observer Flag on state space function: OK
K2opt = place(plant2, poles2, opt =:o)'; # OPT Observer Flag on state space function: OK
K2matrices = place(A2', C2', 5.0*poles2, opt=:o)' # Using the observer flag: OK
K2matrices_transpose = place(A2', C2', 5.0*poles2)' # Just using place with the matrices transposed: OK
#
# n = 3
#
A = [0.0 1.0 0.0
0.0 -1.0 1.0
0.0 0.0 -20.0]
B = [ 0; 0; 1]
C = [1.0 0.0 0.0
0.0 1.0 0.0]
plant = ss(A,B,C,0);
controllability(A,B) # OK
observability(A, C) # OK
poles = [-40 -40.1 -39]
# Controller Vector
L3 = place(plant, poles, opt=:c) # Success
L3matrices = place(A, B, poles, opt=:c) # Success
# Observer Vector
K3matrices_transpose = place(A', C', 5.0*poles)' # Just using place with the matrices transposed: FAIL
K3matrices = place(A', C', 5.0*poles, opt=:o)' # Place with the matrices transposed and the observer flag: FAIL
K3 = place(plant, 5.0*poles, :o)'; # Observer Flag on state space function: FAIL
K3opt = place(plant, 5.0*poles, opt=:o)' # OPT Observer Flag on state space function: OKError message
ERROR: UndefKeywordError: keyword argument `dims` not assigned
Stacktrace:
[1] place_knvd(A::LinearAlgebra.Adjoint{…}, B::LinearAlgebra.Adjoint{…}, λ::Matrix{…}; verbose::Bool, init::Symbol, method::Int64)
@ ControlSystemsBase C:\Users\icpmoles\.julia\packages\ControlSystemsBase\IeuPW\src\synthesis.jl:242
[2] place_knvd(A::LinearAlgebra.Adjoint{…}, B::LinearAlgebra.Adjoint{…}, λ::Matrix{…})
@ ControlSystemsBase C:\Users\icpmoles\.julia\packages\ControlSystemsBase\IeuPW\src\synthesis.jl:238
[3] place(A::LinearAlgebra.Adjoint{…}, B::LinearAlgebra.Adjoint{…}, p::Matrix{…}, opt::Symbol; direct::Bool, kwargs::@Kwargs{})
@ ControlSystemsBase C:\Users\icpmoles\.julia\packages\ControlSystemsBase\IeuPW\src\synthesis.jl:159
[4] place
@ C:\Users\icpmoles\.julia\packages\ControlSystemsBase\IeuPW\src\synthesis.jl:150 [inlined]
[5] place(A::LinearAlgebra.Adjoint{Float64, Matrix{…}}, B::LinearAlgebra.Adjoint{Float64, Matrix{…}}, p::Matrix{Float64})
@ ControlSystemsBase C:\Users\icpmoles\.julia\packages\ControlSystemsBase\IeuPW\src\synthesis.jl:150
[6] top-level scope
@ g:\ControlChallengesSolutions\src\bugreport.jl:41
Some type information was truncated. Use `show(err)` to see complete types.