commit e18cf50e8c91c1dbcbfe3f891e92019039227172
author Brian Silverman <brians> Sat Nov 28 23:04:43 2015 +0000
committer Brian Silverman <brians> Sat Nov 28 23:05:40 2015 +0000
tree f581771b773e2a113966da4b0c886c2e2e00cd4c
parent c206573dff8ba0751a96c2b5e536222bc4818565

s/controla/controlla/g

Change-Id: I03c0f320181b969edb271cded8a80dcebd12334e

frc971/control_loops/python/controls.py

diff --git a/frc971/control_loops/python/controls.py b/frc971/control_loops/python/controls.py
index 8a63620..e2c6c93 100644
--- a/frc971/control_loops/python/controls.py
+++ b/frc971/control_loops/python/controls.py
@@ -93,7 +93,7 @@
   return numpy.matrix(ans_a), numpy.matrix(ans_b)
 
 def ctrb(A, B):
-  """Returns the controlability matrix.
+  """Returns the controllability matrix.
 
     This matrix must have full rank for all the states to be controllable.
   """
@@ -138,9 +138,9 @@
   m = C.shape[0]
 
   controllability_rank = numpy.linalg.matrix_rank(ctrb(A.T, C.T))
-  if controlability_rank != n:
+  if controllability_rank != n:
     glog.warning('Observability of %d != %d, unobservable state',
-                 controlability_rank, n)
+                 controllability_rank, n)
 
   # Compute the steady state covariance matrix.
   P_prior, rcond, w, S, T = slycot.sb02od(n=n, m=m, A=A.T, B=C.T, Q=Q, R=R, dico='D')