Merge pull request #798 from adswid/fix-find_eqpt · python-control/python-control@23a7791
@@ -822,6 +822,17 @@ def test_find_eqpts(self, tsys):
822822np.testing.assert_array_almost_equal(
823823nlsys_full._rhs(0, xeq, ueq)[-4:], np.zeros((4,)), decimal=5)
824824825+# The same test as previous, but now all constraints are in the state vector
826+nlsys_full = ios.NonlinearIOSystem(pvtol_full, None)
827+xeq, ueq, result = ios.find_eqpt(
828+nlsys_full, [0, 0, 0.1, 0.1, 0, 0], [0.01, 4*9.8],
829+idx=[2, 3, 4, 5], ix=[0, 1, 2, 3], return_result=True)
830+assert result.success
831+np.testing.assert_array_almost_equal(
832+nlsys_full._out(0, xeq, ueq)[[2, 3]], [0.1, 0.1], decimal=5)
833+np.testing.assert_array_almost_equal(
834+nlsys_full._rhs(0, xeq, ueq)[-4:], np.zeros((4,)), decimal=5)
835+825836# Fix one input and vary the other
826837nlsys_full = ios.NonlinearIOSystem(pvtol_full, None)
827838xeq, ueq, result = ios.find_eqpt(