o ×°“iÀã@s>ddlZdd„Zdd„Zdd„Zdd „Zd d „Zdd d „ZdS)éNcCs|dur t d¡S|S)N©rr)ÚcupyÚzeros©Úarg©rúV/home/ubuntu/.local/lib/python3.10/site-packages/cupyx/scipy/signal/_lti_conversion.pyÚ_none_to_empty_2ds r cCs|dur t |¡SdS©N)rÚ atleast_2drrrrÚ_atleast_2d_or_none s ÿr cCs|dur|jSdS)N)NN)Úshape)ÚMrrrÚ_shape_or_nonesrcGs|D] }|dur |SqdSr r)ÚargsrrrrÚ_choice_not_nones ÿÿrcCs*|jdkr t |¡S|j|krtdƒ‚|S)Nrz*The input arrays have incompatible shapes.)r rrÚ ValueError)rr rrrÚ_restores   rcCsètt||||fƒ\}}}}t|ƒ\}}t|ƒ\}}t|ƒ\}} t|ƒ\} } t||| ƒ} t|| ƒ} t|| ƒ}| dusA| dusA|durEtdƒ‚tt||||fƒ\}}}}t|| | fƒ}t|| | fƒ}t||| fƒ}t||| fƒ}||||fS)a³Check state-space matrices and ensure they are 2-D. If enough information on the system is provided, that is, enough properly-shaped arrays are passed to the function, the missing ones are built from this information, ensuring the correct number of rows and columns. Otherwise a ValueError is raised. Parameters ---------- A, B, C, D : array_like, optional State-space matrices. All of them are None (missing) by default. See `ss2tf` for format. Returns ------- A, B, C, D : array Properly shaped state-space matrices. Raises ------ ValueError If not enough information on the system was provided. Nz%Not enough information on the system.)Úmapr rrrr r)ÚAÚBÚCÚDÚMAÚNAÚMBÚNBÚMCÚNCÚMDÚNDÚpÚqÚrrrrÚabcd_normalize&s         r$)NNNN)rr r rrrr$rrrrÚs