K, S, E = ct.dlqr(csys, Q, R)

@pytest.mark.parametrize(

'nstates, noutputs, ninputs, nintegrators, type',

'nstates, noutputs, ninputs, nintegrators, type_',

[(2, 0, 1, 0, None),

(2, 1, 1, 0, None),

(4, 0, 2, 0, None),

(4, 3, 2, 2, 'nonlinear'),

])

def test_statefbk_iosys(

self, nstates, ninputs, noutputs, nintegrators, type):

self, nstates, ninputs, noutputs, nintegrators, type_):

# Create the system to be controlled (and estimator)

# TODO: make sure it is controllable?

if noutputs == 0:

# Create an I/O system for the controller

ctrl, clsys = ct.create_statefbk_iosystem(

sys, K, integral_action=C_int, estimator=est,

controller_type=type, name=type)

controller_type=type_, name=type_)

# Make sure the name got set correctly

if type is not None:

assert ctrl.name == type

if type_ is not None:

assert ctrl.name == type_

# If we used a nonlinear controller, linearize it for testing

if type == 'nonlinear':

if type_ == 'nonlinear':

clsys = clsys.linearize(0, 0)

# Make sure the linear system elements are correct