astrohiro / ancm Goto Github PK

when i run adaptive.py , there is a error that :
Traceback (most recent call last):
File "D:\Study\Coding\pycharm\project\ancm-main\ancm-main\Codes\adaptive.py", line 515, in
u = ilqr(x,p0NN,funf,Qnn,Rnn)
File "D:\Study\Coding\pycharm\project\ancm-main\ancm-main\Codes\adaptive.py", line 270, in ilqr
Kc,, = control.lqr(Ax,Bx,Q,R)
File "D:\Study\Coding\conda\conda\envs\tensorflow\lib\site-packages\control\statefbk.py", line 684, in lqr
X, L, G = care(A, B, Q, R, N, None, method=method, S_s="N")
File "D:\Study\Coding\conda\conda\envs\tensorflow\lib\site-packages\control\mateqn.py", line 451, in care
X, rcond, w, S_o, U, A_inv = sb02md(n, A, G, Q, 'C', sort=sort)
File "D:\Study\Coding\conda\conda\envs\tensorflow\lib\site-packages\slycot\synthesis.py", line 333, in sb02md
raise_if_slycot_error(info, arg_list, sb02md.doc)
File "D:\Study\Coding\conda\conda\envs\tensorflow\lib\site-packages\slycot\exceptions.py", line 236, in raise_if_slycot_error
raise globals()[exception](fmessage, info)
slycot.exceptions.SlycotArithmeticError:
The Hamiltonian or symplectic matrix H has less than n stable eigenvalues;