Fix refgain controllers with integral action#1222
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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 --check