René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"Unexpected and unwanted behaviour of control.ctrb","articleBody":"I have found some unexplainable and unwanted behavior of the `control.ctrb` functions, which returns a 'controllability matrix' with incorrect dimensions rather than returning an error/warning that the $B$ matrix is not dimensioned properly.\n\n**MWE:**\n\n```\nimport numpy as np\nimport control as ct\n\nA = np.array([[1, 1], [0, 1]])\nb = np.array([1, 1])\nC = ct.ctrb(A, b)  # Rather then 1) returning an error that b is not properly dimensioned, or 2) assuming that b is a columns vector, it instead returns a matrix with shape 2 x 4, which makes no sense for a controllability matrix\n\nC_T = ct.ctrb(A, np.atleast_2d(b).T)  # Explicitly specifying that b is a column vector fixes this and C_T is now a 2 x 2 matrix\n```\n\nI believe the behavior is incorrect, and it took me quite some time to understand what was going wrong; any (dis)agreement would be appreciated, thanks.","author":{"url":"https://github.com/bwolleswinkel","@type":"Person","name":"bwolleswinkel"},"datePublished":"2025-01-16T19:59:37.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":1},"url":"https://github.com/1097/python-control/issues/1097"}