Merge branch 'project.toml' of github.com:JuliaControl/ControlSystems.jl into project.toml

Author: baggepinnen

src/matrix_comps.jl

@@ -107,11 +107,12 @@ Compute the observability matrix for the system described by `(A, C)` or `sys`.
 Note that checking for observability by computing the rank from `obsv` is
 not the most numerically accurate way, a better method is checking if
 `gram(sys, :o)` is positive definite."""
-function obsv(A::AbstractMatrix{T}, C::AbstractMatrix) where T
+function obsv(A::AbstractMatrix, C::AbstractMatrix)
+    T = promote_type(eltype(A), eltype(C))
     n = size(A, 1)
     ny = size(C, 1)
     if n != size(C, 2)
-        error("C must have the same number of columns as A")
+        throw(ArgumentError("C must have the same number of columns as A"))
     end
     res = fill(zero(T), n*ny, n)
     res[1:ny, :] = C
@@ -130,11 +131,12 @@ Compute the controllability matrix for the system described by `(A, B)` or
 Note that checking for controllability by computing the rank from
 `ctrb` is not the most numerically accurate way, a better method is
 checking if `gram(sys, :c)` is positive definite."""
-function ctrb(A::AbstractMatrix{T}, B::AbstractMatrix{T}) where {T <: Number}
+function ctrb(A::AbstractMatrix, B::AbstractMatrix)
+    T = promote_type(eltype(A), eltype(B))
     n = size(A, 1)
     nu = size(B, 2)
     if n != size(B, 1)
-        error("B must have the same number of rows as A")
+        throw(ArgumentError("B must have the same number of rows as A"))
     end
     res = fill(zero(T), n, n*nu)
     res[:, 1:nu] = B

src/synthesis.jl

@@ -25,11 +25,11 @@ Q = I
 R = I
 L = lqr(sys,Q,R)
 
-u(t,x) = -L*x # Form control law,
+u(x,t) = -L*x # Form control law,
 t=0:0.1:5
 x0 = [1,0]
-y, t, x, uout = lsim(sys,u,t,x0)
-plot(t,x, lab=["Position", "Velocity"]', xlabel="Time [s]")
+y, t, x, uout = lsim(sys,u,t,x0=x0)
+plot(t,x, lab=["Position" "Velocity"], xlabel="Time [s]")
 ```
 """
 function lqr(A, B, Q, R)
@@ -87,11 +87,11 @@ Q = I
 R = I
 L = dlqr(A,B,Q,R) # lqr(sys,Q,R) can also be used
 
-u(t,x) = -L*x # Form control law,
+u(x,t) = -L*x # Form control law,
 t=0:h:5
 x0 = [1,0]
-y, t, x, uout = lsim(sys,u,t,x0)
-plot(t,x, lab=["Position", "Velocity"]', xlabel="Time [s]")
+y, t, x, uout = lsim(sys,u,t,x0=x0)
+plot(t,x, lab=["Position"  "Velocity"], xlabel="Time [s]")
 ```
 """
 function dlqr(A, B, Q, R)