Allow minreal to work with static gain StateSpace objects #108
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…ects. Allows StateSpace([],[],[],D), which failed previously. Static gains have sizes enforced as follows: A 0-by-0, B 0-by-ninputs, C noutputs-by-0. Tests added for instantiation, and sum, product, feedback, and appending, of 1x1, 2x3, and 3x2 static gains StateSpace objects.
On Python 2.7, the special case "all states useless" in _remove_useless_states resulted in A=[[0]] (and similarly for B and C). The special case is no longer needed, since empty A, B, C matrices can be handled. numpy.delete does the right thing w.r.t. matrix sizes (e.g., deleting all columns of a nxm matrix gives an nx0 matrix). Added test for this.
Do this by only calling Slycot's tb01pd for non-static systems.
Merged
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Pull request #110 subsumes this one. |
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Finding this bug is what provoked #107, which this builds on.
This takes the simple option of doing nothing for a static gain. I didn't investigate the slycot.tb01pd call at all; perhaps it can take a static gain, and there's some other bug lurking in minreal code.