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Commit77a75a6

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update docstrings and user documentation
1 parentaa106ba commit77a75a6

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6 files changed

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-19
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6 files changed

+6
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‎control/config.py

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@@ -202,7 +202,6 @@ def use_matlab_defaults():
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The following conventions are used:
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* Bode plots plot gain in dB, phase in degrees, frequency in
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rad/sec, with grids
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* State space class and functions use Numpy matrix objects
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Examples
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--------

‎control/iosys.py

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@@ -2227,8 +2227,6 @@ def ss(*args, **kwargs):
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y[k] &= C x[k] + D u[k]
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The matrices can be given as *array like* data types or strings.
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Everything that the constructor of :class:`numpy.matrix` accepts is
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permissible here too.
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``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])``
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Create a system with named input, output, and state signals.

‎control/statesp.py

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@@ -453,10 +453,6 @@ def _remove_useless_states(self):
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"""
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# Search for useless states and get indices of these states.
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#
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# Note: shape from np.where depends on whether we are storing state
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# space objects as np.matrix or np.array. Code below will work
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# correctly in either case.
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ax1_A=np.where(~self.A.any(axis=1))[0]
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ax1_B=np.where(~self.B.any(axis=1))[0]
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ax0_A=np.where(~self.A.any(axis=0))[-1]
@@ -488,12 +484,11 @@ def __str__(self):
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returnstring
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# represent to implement a re-loadable version
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# TODO: remove the conversion to array when matrix is no longer used
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def__repr__(self):
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"""Print state-space system in loadable form."""
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return"StateSpace({A}, {B}, {C}, {D}{dt})".format(
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A=asarray(self.A).__repr__(),B=asarray(self.B).__repr__(),
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C=asarray(self.C).__repr__(),D=asarray(self.D).__repr__(),
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A=self.A.__repr__(),B=self.B.__repr__(),
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C=self.C.__repr__(),D=self.D.__repr__(),
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dt=(isdtime(self,strict=True)and", {}".format(self.dt))or'')
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def_latex_partitioned_stateless(self):

‎control/stochsys.py

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@@ -87,9 +87,9 @@ def lqe(*args, **kwargs):
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Returns
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-------
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L : 2D array (or matrix)
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L : 2D array
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Kalman estimator gain
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P : 2D array (or matrix)
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P : 2D array
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Solution to Riccati equation
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.. math::
@@ -221,9 +221,9 @@ def dlqe(*args, **kwargs):
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Returns
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-------
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L : 2D array (or matrix)
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L : 2D array
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Kalman estimator gain
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P : 2D array (or matrix)
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P : 2D array
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Solution to Riccati equation
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.. math::

‎doc/control.rst

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@@ -197,6 +197,5 @@ Utility functions and conversions
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unwrap
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use_fbs_defaults
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use_matlab_defaults
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use_numpy_matrix
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‎doc/conventions.rst

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@@ -303,9 +303,6 @@ Selected variables that can be configured, along with their default values:
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* freqplot.feature_periphery_decade (1.0): How many decades to include in
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the frequency range on both sides of features (poles, zeros).
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* statesp.use_numpy_matrix (True): set the return type for state space
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matrices to `numpy.matrix` (verus numpy.ndarray)
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* statesp.default_dt and xferfcn.default_dt (None): set the default value
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of dt when constructing new LTI systems
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@@ -322,5 +319,4 @@ Functions that can be used to set standard configurations:
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reset_defaults
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use_fbs_defaults
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use_matlab_defaults
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use_numpy_matrix
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use_legacy_defaults

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