Jason K. Moore

After `opty/examples` is empty we could rename `opty/example-gallery/` to `opty/examples/`.

This now works if the line in sympy is changed to `determinant = self.A.charpoly(s)` (the determinant call was not completing).

The found closed loop gains give stable eigenvalues: ``` In [5]: (h.gain_scale_factors.flatten()*ps).reshape(2, 4) Out[5]: array([[982.30185469, 157.07713533, 172.95396715, 43.99265946], [ 52.93813837, 285.14860231, 54.81236929, 23.62525222]]) In [6]: Av - Bv@(h.gain_scale_factors.flatten()*ps).reshape(2, 4) Out[6]:...

I opened this SymPy issue regarding the limitations of the stability conditions function: https://github.com/sympy/sympy/issues/28010

@chris-konrad and @tvdbogert, this may be of interest. It still needs some tweaks upstream in SymPy for it to work smoothly, but this demonstrates adding criteria to guarantee stability in...

This works with SymPy master. Nice! I think I'll wait to merge (if I do) for when SymPy 1.15 comes out.

Getting this unrelated error in the docs build: ``` Extension error: Here is a summary of the problems encountered when running the examples: Unexpected failing examples (1): ../examples-gallery/beginner/plot_brachistochrone.py failed leaving...

This should be possible given that instance constraints are built separately from the equation of motion constraints. It is a matter of identifying all the unique steps to building the...

I doesn't seem that symjit is installed in the CI config: ``` Extension error: Cell raised uncaught exception: --------------------------------------------------------------------------- TypeError Traceback (most recent call last) File ~/work/pydy/pydy/pydy/codegen/ode_function_generators.py:1061, in generate_ode_function(*args, **kwargs)...

Merge in master here and see if it builds. I added symjit.