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{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"bug in place_acker","articleBody":"The place_acker function works for SISO systems only and returns 1D array instead of 2D array. \n\n1D-\u003e2D array can be corrected in:\nhttps://github.com/python-control/python-control/blob/424297659bb279d196dae9006cfb185a1f4f472b/control/statefbk.py#L254\nThe original line\n    K = K[-1, :]                # Extract the last row\nshould be changed for\n    K = K[-1:, :]                # Extract the last row\n\nMIMO system specification throws errors. Here is an example:\n```\nimport numpy as np\nimport control as ct\n\nnx = 3\nnu = 1\nny = 1\nsys = ct.rss(states=nx, inputs=nu, outputs=ny)\npoles = - np.arange(1, nx+1, 1)\nKp = ct.place(sys.A, sys.B, poles)\nKa = ct.acker(sys.A, sys.B, poles)\nprint(Kp.shape, Ka.shape)\n\nnx = 3\nnu = 2\nny = 2\nsys = ct.rss(states=nx, inputs=nu, outputs=ny)\npoles = - np.arange(1, nx+1, 1)\nKp = ct.place(sys.A, sys.B, poles)\nKa = ct.acker(sys.A, sys.B, poles)\n```\n","author":{"url":"https://github.com/miroslavfikar","@type":"Person","name":"miroslavfikar"},"datePublished":"2025-12-30T06:45:11.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":1},"url":"https://github.com/1190/python-control/issues/1190"}