changed: minreal with balance=false in LinMPC outer constructor

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.5.2"
+version = "1.5.3"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
@@ -20,7 +20,7 @@ SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
 SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
 
 [compat]
-ControlSystemsBase = "1.9"
+ControlSystemsBase = "1.14.6"
 DAQP = "0.6"
 DifferentiationInterface = "0.6.45"
 Documenter = "1"

src/model/linmodel.jl

@@ -174,8 +174,9 @@ function LinModel(
             sysd_dis = sysd
         end     
     end
-    # minreal to merge common poles if possible and ensure controllability/observability:
-    sys_dis = minreal([sysu_dis sysd_dis]) # same realization if already minimal
+    # minreal to merge common poles if possible and ensure controllability/observability
+    # balance=false option to keep the same realization if already minimal
+    sys_dis = minreal([sysu_dis sysd_dis], balance=false)
     nu  = length(i_u)
     A   = sys_dis.A
     Bu  = sys_dis.B[:,1:nu]