def check_case(self, a, b, q, r):

        x = solve_continuous_are(a, b, q, r)
        assert_array_almost_equal(
            a.getH()*x + x*a - x*b*inv(r)*b.getH()*x + q, 0.0)
Checks if (A'X + XA - XBR^-1B'X+Q=0) is true
dataset/ETHPy150Open scipy/scipy/scipy/linalg/tests/test_solvers.py/TestSolveContinuousARE.check_case