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Title: Improved speed of ctrb and obsv functions by Jpickard1 · Pull Request #941 · python-control/python-control · GitHub

Open Graph Title: Improved speed of ctrb and obsv functions by Jpickard1 · Pull Request #941 · python-control/python-control

X Title: Improved speed of ctrb and obsv functions by Jpickard1 · Pull Request #941 · python-control/python-control

Description: Current implementation of ctrb and obsv functions utilize np.linalg.matrix_power inside of a for i in range(1,n) loop. I modified these functions to reduce the number of matrix multiplications by amat essentially by utilizing the precomputed matrix exponentiation from the i-1the iteration of the loop when computing the ith iteration. This is similar to the MATLAB implementation of the similar functions. Additionally, I added an optional parameter t to both functions that defaults to None for the case where the reduced observability and controllability matrices are needed. By default, the full observability and controllability matrices are created. This appears to pass all test cases.

Open Graph Description: Current implementation of ctrb and obsv functions utilize np.linalg.matrix_power inside of a for i in range(1,n) loop. I modified these functions to reduce the number of matrix multiplications by a...

X Description: Current implementation of ctrb and obsv functions utilize np.linalg.matrix_power inside of a for i in range(1,n) loop. I modified these functions to reduce the number of matrix multiplications by a...

Opengraph URL: https://github.com/python-control/python-control/pull/941

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5692317 improved speed to construct observability matrix by reducing matrix e… Jpickard1 Nov 25, 2023 https://github.com/python-control/python-control/pull/941/commits/5692317725ca5bf30560f738621a856f2347d0de
95ab229 improved time to create controllability matrix, fix to obsv function … Jpickard1 Nov 25, 2023 https://github.com/python-control/python-control/pull/941/commits/95ab229ff4a92aa782abe0bdd554f039ce3756e3
7feeb2c fixed differentce between ctrb and obsv Jpickard1 Nov 25, 2023 https://github.com/python-control/python-control/pull/941/commits/7feeb2c964196cc0010251c908400adda2ec98d3
bfc7e6b Update control/statefbk.py Jpickard1 Nov 27, 2023 https://github.com/python-control/python-control/pull/941/commits/bfc7e6b895bf8158627aea39b4c29d950c5e5c23
44d57ac Update control/statefbk.py Jpickard1 Nov 27, 2023 https://github.com/python-control/python-control/pull/941/commits/44d57ac92044f90fe6f8fe1a0ec541a02d3e47f6
cb4f7d9 changed doc string Jpickard1 Nov 27, 2023 https://github.com/python-control/python-control/pull/941/commits/cb4f7d90559a38a6b6a81de6c2c1267e06a6320f
49779aa Merge branch 'main' of https://github.com/Jpickard1/python-control Jpickard1 Nov 27, 2023 https://github.com/python-control/python-control/pull/941/commits/49779aa2a8ca3ddd21b3204a76d945f2d36e8de9
f8ba0d9 test cases added for t < A.shape[0] Jpickard1 Nov 27, 2023 https://github.com/python-control/python-control/pull/941/commits/f8ba0d9caf54d41623118cfd48f8afe041b46b15
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