adjust reference values for GMF test to account for improved accuracy…

… in MatrixEquations

ref: andreasvarga/MatrixEquations.jl@v2.3.2...v2.4.0

src/glover_mcfarlane.jl

@@ -133,7 +133,7 @@ Anti-windup can be added to $W_1$ but putting $W_1$ on Hanus form after the synt
 ```
 Keywords: `nfcsyn`, `coprimeunc`
 """
-function glover_mcfarlane(G::AbstractStateSpace{Continuous}, γ = 1.1; W1=1, W2=1)
+function glover_mcfarlane(G::AbstractStateSpace{Continuous}, γ = 1.1; W1=1, W2=1, kwargs...)
     γ > 1 || throw(ArgumentError("γ must be greater than 1"))
     Gs = W2*G*W1
     A,B,C,D = ssdata(Gs)
@@ -144,8 +144,8 @@ function glover_mcfarlane(G::AbstractStateSpace{Continuous}, γ = 1.1; W1=1, W2=
     # arec(A, B, R, Q, S) solves A'X + XA - (XB+S)R^(-1)(B'X+S') + Q = 0
 
     Ā = A - B*(S\D'C)
-    Z,_ = MatrixEquations.arec(Ā', C', R, B*(Sl\B'))
-    X,_ = MatrixEquations.arec(Ā, B, S, C'*(R\C))
+    Z,_ = MatrixEquations.arec(Ā', C', R, B*(Sl\B'); kwargs...)
+    X,_ = MatrixEquations.arec(Ā, B, S, C'*(R\C); kwargs...)
 
     γmin = sqrt(1 + ρ(X*Z))
 

test/test_reduction.jl

@@ -277,6 +277,7 @@ controller_reduction_plot(P,K)
 
 
 ## Coprime controller reduction tests
+using RobustAndOptimalControl, ControlSystemsBase, Test
 P = let
     tempA = [-2446.48418 -300000.0 0.0; 0.0 0.0 1.0; -40.0 0.0 0.0]
     tempB = [100000.0; 0.0; 0.0;;]
@@ -286,7 +287,7 @@ P = let
 end
 W1 = 3.350*tf([1, 20.890],[1, 0])
 K,γ,info = glover_mcfarlane(P, 1.01; W1)
-@test γ ≈ 5.155923885290242 rtol=1e-4
+@test γ ≈ 5.157288328386042 rtol=1e-4
 e,_ = ncfmargin(info.Gs,info.Ks)
 @test e ≈ 0.19389475760949448 rtol=1e-4
 
@@ -295,7 +296,7 @@ n = findlast(RobustAndOptimalControl.error_bound(hs) .> e/2)
 @test n == 3
 
 Ksr, hs, infor = baltrunc_coprime(info.Ks; n)
-@test ncfmargin(info.Gs, Ksr)[1] ≈ 0.193205415557165 rtol=1e-4
+@test ncfmargin(info.Gs, Ksr)[1] ≈ 0.19322670090116284 rtol=1e-4
 controller_reduction_plot(info.Gs,info.Ks)
 controller_reduction_plot(info.Gs,info.Ks, method=:cr)