test_lyapunov.py 文件源码

def test_grams():
    sys = 0.6*Alpha(0.01) + 0.4*Lowpass(0.05)

    A, B, C, D = sys2ss(sys)

    P = control_gram(sys)
    assert np.allclose(np.dot(A, P) + np.dot(P, A.T), -np.dot(B, B.T))
    assert matrix_rank(P) == len(P)  # controllable

    Q = observe_gram(sys)
    assert np.allclose(np.dot(A.T, Q) + np.dot(Q, A), -np.dot(C.T, C))
    assert matrix_rank(Q) == len(Q)  # observable