René's URL Explorer Experiment

Title: bug in create_statefbk_iosystem, option refgain · Issue #1189 · python-control/python-control · GitHub

Open Graph Title: bug in create_statefbk_iosystem, option refgain · Issue #1189 · python-control/python-control

X Title: bug in create_statefbk_iosystem, option refgain · Issue #1189 · python-control/python-control

Description: python-control/control/statefbk.py Line 1009 in 4242976 D_lqr = np.hstack([Kf, -K]) Matrix D_lqr is not correctly constructed if integral action is used in 'refgain' form. The line: D_lqr = np.hstack([Kf, -K]) should read: D_lqr = np.hst...

Open Graph Description: python-control/control/statefbk.py Line 1009 in 4242976 D_lqr = np.hstack([Kf, -K]) Matrix D_lqr is not correctly constructed if integral action is used in 'refgain' form. The line: D_lqr = np.hsta...

X Description: python-control/control/statefbk.py Line 1009 in 4242976 D_lqr = np.hstack([Kf, -K]) Matrix D_lqr is not correctly constructed if integral action is used in 'refgain' form. The line: D_lqr =...

Opengraph URL: https://github.com/python-control/python-control/issues/1189

X: @github

direct link

Domain: patch-diff.githubusercontent.com

Hey, it has json ld scripts:

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"bug in create_statefbk_iosystem, option refgain","articleBody":"https://github.com/python-control/python-control/blob/424297659bb279d196dae9006cfb185a1f4f472b/control/statefbk.py#L1009\n\nMatrix D_lqr is not correctly constructed if integral action is used in 'refgain' form. The line:\nD_lqr = np.hstack([Kf, -K])\nshould read:\nD_lqr = np.hstack([Kf, -K[:, :sys_nstates]])\nas K[:, sys_nstates:] is already used in C_lqr,  D_lqr is too wide.\n","author":{"url":"https://github.com/miroslavfikar","@type":"Person","name":"miroslavfikar"},"datePublished":"2025-12-20T12:03:24.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":3},"url":"https://github.com/1189/python-control/issues/1189"}

route-pattern	/_view_fragments/issues/show/:user_id/:repository/:id/issue_layout(.:format)
route-controller	voltron_issues_fragments
route-action	issue_layout
fetch-nonce	v2:16022b97-8bd7-18d0-ec40-1f4c1584c2a2
current-catalog-service-hash	81bb79d38c15960b92d99bca9288a9108c7a47b18f2423d0f6438c5b7bcd2114
request-id	B874:1BA671:14AD07D:1BC745A:69797881
html-safe-nonce	4cc50df1293968292274b247293da47bf3f740a57a3e746a7d067b0c1e78d871
visitor-payload	eyJyZWZlcnJlciI6IiIsInJlcXVlc3RfaWQiOiJCODc0OjFCQTY3MToxNEFEMDdEOjFCQzc0NUE6Njk3OTc4ODEiLCJ2aXNpdG9yX2lkIjoiMzg5NTYxODA1NjAxNjcyMjA0OSIsInJlZ2lvbl9lZGdlIjoiaWFkIiwicmVnaW9uX3JlbmRlciI6ImlhZCJ9
visitor-hmac	6f1b48b1709e99f9da81d338fd715dbef157ecfff629c62f8ac9fb5c1da7372e
hovercard-subject-tag	issue:3749994662
github-keyboard-shortcuts	repository,issues,copilot
google-site-verification	Apib7-x98H0j5cPqHWwSMm6dNU4GmODRoqxLiDzdx9I
octolytics-url	https://collector.github.com/github/collect
analytics-location	///voltron/issues_fragments/issue_layout
fb:app_id	1401488693436528
apple-itunes-app	app-id=1477376905, app-argument=https://github.com/_view_fragments/issues/show/python-control/python-control/1189/issue_layout
twitter:image	https://opengraph.githubassets.com/aed9408c3e5d62d3bc9025973afe23d1da95233a4a8e7575e34496de05647a66/python-control/python-control/issues/1189
twitter:card	summary_large_image
og:image	https://opengraph.githubassets.com/aed9408c3e5d62d3bc9025973afe23d1da95233a4a8e7575e34496de05647a66/python-control/python-control/issues/1189
og:image:alt	python-control/control/statefbk.py Line 1009 in 4242976 D_lqr = np.hstack([Kf, -K]) Matrix D_lqr is not correctly constructed if integral action is used in 'refgain' form. The line: D_lqr = np.hsta...
og:image:width	1200
og:image:height	600
og:site_name	GitHub
og:type	object
og:author:username	miroslavfikar
hostname	github.com
expected-hostname	github.com
None	c049b65ec7e54cbf2521f5a560b6527714c612b0bd169188e2ea6e16f83bd5f4
turbo-cache-control	no-preview
go-import	github.com/python-control/python-control git https://github.com/python-control/python-control.git
octolytics-dimension-user_id	2285872
octolytics-dimension-user_login	python-control
octolytics-dimension-repository_id	22791752
octolytics-dimension-repository_nwo	python-control/python-control
octolytics-dimension-repository_public	true
octolytics-dimension-repository_is_fork	false
octolytics-dimension-repository_network_root_id	22791752
octolytics-dimension-repository_network_root_nwo	python-control/python-control
turbo-body-classes	logged-out env-production page-responsive
disable-turbo	false
browser-stats-url	https://api.github.com/_private/browser/stats
browser-errors-url	https://api.github.com/_private/browser/errors
release	87b137883e35e2766c3d0f6a257c4044f6390b83
ui-target	full
theme-color	#1e2327
color-scheme	light dark

Links:

Skip to content	https://patch-diff.githubusercontent.com/python-control/python-control/issues/1189#start-of-content
	https://patch-diff.githubusercontent.com/
Sign in	https://patch-diff.githubusercontent.com/login?return_to=https%3A%2F%2Fgithub.com%2Fpython-control%2Fpython-control%2Fissues%2F1189
GitHub CopilotWrite better code with AI	https://github.com/features/copilot
GitHub SparkBuild and deploy intelligent apps	https://github.com/features/spark
GitHub ModelsManage and compare prompts	https://github.com/features/models
MCP RegistryNewIntegrate external tools	https://github.com/mcp
ActionsAutomate any workflow	https://github.com/features/actions
CodespacesInstant dev environments	https://github.com/features/codespaces
IssuesPlan and track work	https://github.com/features/issues
Code ReviewManage code changes	https://github.com/features/code-review
GitHub Advanced SecurityFind and fix vulnerabilities	https://github.com/security/advanced-security
Code securitySecure your code as you build	https://github.com/security/advanced-security/code-security
Secret protectionStop leaks before they start	https://github.com/security/advanced-security/secret-protection
Why GitHub	https://github.com/why-github
Documentation	https://docs.github.com
Blog	https://github.blog
Changelog	https://github.blog/changelog
Marketplace	https://github.com/marketplace
View all features	https://github.com/features
Enterprises	https://github.com/enterprise
Small and medium teams	https://github.com/team
Startups	https://github.com/enterprise/startups
Nonprofits	https://github.com/solutions/industry/nonprofits
App Modernization	https://github.com/solutions/use-case/app-modernization
DevSecOps	https://github.com/solutions/use-case/devsecops
DevOps	https://github.com/solutions/use-case/devops
CI/CD	https://github.com/solutions/use-case/ci-cd
View all use cases	https://github.com/solutions/use-case
Healthcare	https://github.com/solutions/industry/healthcare
Financial services	https://github.com/solutions/industry/financial-services
Manufacturing	https://github.com/solutions/industry/manufacturing
Government	https://github.com/solutions/industry/government
View all industries	https://github.com/solutions/industry
View all solutions	https://github.com/solutions
AI	https://github.com/resources/articles?topic=ai
Software Development	https://github.com/resources/articles?topic=software-development
DevOps	https://github.com/resources/articles?topic=devops
Security	https://github.com/resources/articles?topic=security
View all topics	https://github.com/resources/articles
Customer stories	https://github.com/customer-stories
Events & webinars	https://github.com/resources/events
Ebooks & reports	https://github.com/resources/whitepapers
Business insights	https://github.com/solutions/executive-insights
GitHub Skills	https://skills.github.com
Documentation	https://docs.github.com
Customer support	https://support.github.com
Community forum	https://github.com/orgs/community/discussions
Trust center	https://github.com/trust-center
Partners	https://github.com/partners
GitHub SponsorsFund open source developers	https://github.com/sponsors
Security Lab	https://securitylab.github.com
Maintainer Community	https://maintainers.github.com
Accelerator	https://github.com/accelerator
Archive Program	https://archiveprogram.github.com
Topics	https://github.com/topics
Trending	https://github.com/trending
Collections	https://github.com/collections
Enterprise platformAI-powered developer platform	https://github.com/enterprise
GitHub Advanced SecurityEnterprise-grade security features	https://github.com/security/advanced-security
Copilot for BusinessEnterprise-grade AI features	https://github.com/features/copilot/copilot-business
Premium SupportEnterprise-grade 24/7 support	https://github.com/premium-support
Pricing	https://github.com/pricing
Search syntax tips	https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax
documentation	https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax
Sign in	https://patch-diff.githubusercontent.com/login?return_to=https%3A%2F%2Fgithub.com%2Fpython-control%2Fpython-control%2Fissues%2F1189
Sign up	https://patch-diff.githubusercontent.com/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-name%3E%2F%3Crepo-name%3E%2Fvoltron%2Fissues_fragments%2Fissue_layout&source=header-repo&source_repo=python-control%2Fpython-control
Reload	https://patch-diff.githubusercontent.com/python-control/python-control/issues/1189
Reload	https://patch-diff.githubusercontent.com/python-control/python-control/issues/1189
Reload	https://patch-diff.githubusercontent.com/python-control/python-control/issues/1189
python-control	https://patch-diff.githubusercontent.com/python-control
python-control	https://patch-diff.githubusercontent.com/python-control/python-control
Notifications	https://patch-diff.githubusercontent.com/login?return_to=%2Fpython-control%2Fpython-control
Fork 447	https://patch-diff.githubusercontent.com/login?return_to=%2Fpython-control%2Fpython-control
Star 2k	https://patch-diff.githubusercontent.com/login?return_to=%2Fpython-control%2Fpython-control
Code	https://patch-diff.githubusercontent.com/python-control/python-control
Issues 87	https://patch-diff.githubusercontent.com/python-control/python-control/issues
Pull requests 8	https://patch-diff.githubusercontent.com/python-control/python-control/pulls
Discussions	https://patch-diff.githubusercontent.com/python-control/python-control/discussions
Actions	https://patch-diff.githubusercontent.com/python-control/python-control/actions
Projects 0	https://patch-diff.githubusercontent.com/python-control/python-control/projects
Wiki	https://patch-diff.githubusercontent.com/python-control/python-control/wiki
Security 0	https://patch-diff.githubusercontent.com/python-control/python-control/security
Insights	https://patch-diff.githubusercontent.com/python-control/python-control/pulse
Code	https://patch-diff.githubusercontent.com/python-control/python-control
Issues	https://patch-diff.githubusercontent.com/python-control/python-control/issues
Pull requests	https://patch-diff.githubusercontent.com/python-control/python-control/pulls
Discussions	https://patch-diff.githubusercontent.com/python-control/python-control/discussions
Actions	https://patch-diff.githubusercontent.com/python-control/python-control/actions
Projects	https://patch-diff.githubusercontent.com/python-control/python-control/projects
Wiki	https://patch-diff.githubusercontent.com/python-control/python-control/wiki
Security	https://patch-diff.githubusercontent.com/python-control/python-control/security
Insights	https://patch-diff.githubusercontent.com/python-control/python-control/pulse
New issue	https://patch-diff.githubusercontent.com/login?return_to=https://github.com/python-control/python-control/issues/1189
New issue	https://patch-diff.githubusercontent.com/login?return_to=https://github.com/python-control/python-control/issues/1189
bug in create_statefbk_iosystem, option refgain	https://patch-diff.githubusercontent.com/python-control/python-control/issues/1189#top
	https://patch-diff.githubusercontent.com/murrayrm
	https://github.com/miroslavfikar
	https://github.com/miroslavfikar
miroslavfikar	https://github.com/miroslavfikar
on Dec 20, 2025	https://github.com/python-control/python-control/issues/1189#issue-3749994662
python-control/control/statefbk.py	https://github.com/python-control/python-control/blob/424297659bb279d196dae9006cfb185a1f4f472b/control/statefbk.py#L1009
4242976	https://patch-diff.githubusercontent.com/python-control/python-control/commit/424297659bb279d196dae9006cfb185a1f4f472b
murrayrm	https://patch-diff.githubusercontent.com/murrayrm
	https://github.com
Terms	https://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacy	https://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Security	https://github.com/security
Status	https://www.githubstatus.com/
Community	https://github.community/
Docs	https://docs.github.com/
Contact	https://support.github.com?tags=dotcom-footer

Viewport: width=device-width

URLs of crawlers that visited me.