Merge pull request #717 from JuliaControl/C_I

`ctrb` can take vector `B`

src/freqresp.jl

@@ -328,7 +328,7 @@ end
     mag = bodemag!(ws::BodemagWorkspace, sys::LTISystem, w::AbstractVector)
 
 Compute the Bode magnitude operating in-place on an instance of [`BodemagWorkspace`](@ref). Note that the returned magnitude array is aliased with `ws.mag`.
-The output array `mag` is ∈ 𝐑(ny, nu, nω) as opposed from the result of [`bode`](@ref) which has the frequency-dimension first. [`bodemag!`](@ref) is optimized for performance.
+The output array `mag` is ∈ 𝐑(ny, nu, nω).
 """
 function bodemag!(ws::BodemagWorkspace, sys::LTISystem, w::AbstractVector)
     freqresp!(ws.R, sys, w)

src/matrix_comps.jl

@@ -122,7 +122,7 @@ 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, B::AbstractMatrix)
+function ctrb(A::AbstractMatrix, B::AbstractVecOrMat)
     T = promote_type(eltype(A), eltype(B))
     n = size(A, 1)
     nu = size(B, 2)

test/test_linalg.jl

@@ -99,8 +99,11 @@ D_static = ss([0.704473 1.56483; -1.6661 -2.16041], 0.07)
 @test gram(D_222,:o) ≈ [5.301899187768763 -3.2250358337314955
     -3.2250358337314955 4.777830864787395]
 
+
+C_111 = C_222[1,1]
 @test obsv(C_222) == [1 0; 0 1; -5 -3; 2 -9]
 @test ctrb(C_222) == [1 0 -5 -6; 0 2 2 -18]
+@test ctrb(C_111.A, C_111.B) == ctrb(C_111.A, vec(C_111.B)) # 452
 @test obsv(C_212) == [1 0; 0 1; -5 -3; 2 -9]
 @test ctrb(C_212) == [1 -11; 2 -16]
 @test norm(C_222) ≈ 0.5773502691896258