Fix refgain controllers with integral action - #1222
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murrayrm merged 1 commit intoAug 14, 2026
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@marko1olo Please rebase off of main to trigger updated CI checks from PR #1243. |
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coverage: 94.743%. remained the same — marko1olo:fix-refgain-integral-action into python-control:main |
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Summary
Fix
create_statefbk_iosystem(..., feedfwd_pattern="refgain")when integral action is enabled.The controller feedthrough matrix should use only the proportional state gain columns. The integral gain columns already define the controller output matrix, and including them again in
D_lqrmade theDmatrix wider than the controller input vector.Closes #1189.
Tests
python -m pytest control/tests/statefbk_test.py::test_refgain_pattern_integral_action control/tests/statefbk_test.py::test_refgain_pattern -qpython -m pytest control/tests/statefbk_test.py -qpython -m ruff check control/statefbk.py control/tests/statefbk_test.pypython -m compileall -q control\statefbk.py control\tests\statefbk_test.pygit diff --checkAI Disclosure: Codex (ChatGPT 5.5) was used during code navigation, initial drafting, and PR text preparation. All logic, code changes, and test cases have been manually reviewed, verified, and tested locally by the author in accordance with the NumPy AI Policy.