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changed: minreal with balance=false in LinMPC outer constructor #190

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changed: minreal with balance=false in LinMPC outer constructor #190

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4 changes: 2 additions & 2 deletions Project.toml
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Original file line number Diff line number Diff line change
@@ -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"
Expand All @@ -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"
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5 changes: 3 additions & 2 deletions src/model/linmodel.jl
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Expand Up @@ -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]
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