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Commitabeb0e4

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Merge pull request#1164 from murrayrm/release_10_2_fixes-04Jul2025
OS/BLAS update for Windows + small fixes for 0.10.2 release
2 parents03ae372 +3993c79 commitabeb0e4

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16 files changed

+81
-47
lines changed

16 files changed

+81
-47
lines changed

‎.github/scripts/set-conda-test-matrix.py‎

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Original file line numberDiff line numberDiff line change
@@ -27,5 +27,19 @@
2727
'blas_lib':cbl}
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conda_jobs.append(cjob)
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30+
# Make sure Windows jobs are included even if we didn't build any
31+
windows_pythons= ['3.11']# Whatever you want to test
32+
33+
forpyinwindows_pythons:
34+
forblasincombinations['windows']:
35+
cjob= {
36+
'packagekey':f'windows-{py}',
37+
'os':'windows',
38+
'python':py,
39+
'blas_lib':blas,
40+
'package_source':'conda-forge'
41+
}
42+
conda_jobs.append(cjob)
43+
3044
matrix= {'include':conda_jobs }
3145
print(json.dumps(matrix))

‎.github/workflows/os-blas-test-matrix.yml‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -107,7 +107,6 @@ jobs:
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os:
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-'ubuntu'
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-'macos'
110-
-'windows'
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python:
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# build on one, expand matrix in conda-build from the Sylcot/conda-recipe/conda_build_config.yaml
113112
-'3.11'
@@ -332,7 +331,13 @@ jobs:
332331
echo "libblas * *mkl" >> $CONDA_PREFIX/conda-meta/pinned
333332
;;
334333
esac
335-
conda install -c ./slycot-conda-pkgs slycot
334+
if [ "${{ matrix.os }}" = "windows" ]; then
335+
echo "Installing slycot from conda-forge on Windows"
336+
conda install slycot
337+
else
338+
echo "Installing built conda package from local channel"
339+
conda install -c ./slycot-conda-pkgs slycot
340+
fi
336341
conda list
337342
-name:Test with pytest
338343
run:JOBNAME="$JOBNAME" pytest control/tests

‎control/config.py‎

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -297,7 +297,7 @@ def use_legacy_defaults(version):
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Parameters
298298
----------
299299
version : string
300-
Version number ofthe defaults desired. Ranges from '0.1' to '0.10.1'.
300+
Version number of`python-control` to use for setting defaults.
301301
302302
Examples
303303
--------
@@ -342,6 +342,14 @@ def use_legacy_defaults(version):
342342
#
343343
reset_defaults()# start from a clean slate
344344

345+
# Version 0.10.2:
346+
ifmajor==0andminor<10or (minor==10andpatch<2):
347+
frommathimportinf
348+
349+
# Reset Nyquist defaults
350+
set_defaults('nyquist',arrows=2,max_curve_magnitude=20,
351+
blend_fraction=0,indent_points=50)
352+
345353
# Version 0.9.2:
346354
ifmajor==0andminor<9or (minor==9andpatch<2):
347355
frommathimportinf

‎control/freqplot.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1659,7 +1659,7 @@ def nyquist_plot(
16591659
portions of the contour are plotted using a different line style.
16601660
label : str or array_like of str, optional
16611661
If present, replace automatically generated label(s) with the given
1662-
label(s). Ifsysdata is a list, strings should be specified for each
1662+
label(s). If`data` is a list, strings should be specified for each
16631663
system.
16641664
label_freq : int, optional
16651665
Label every nth frequency on the plot. If not specified, no labels
@@ -1690,8 +1690,8 @@ def nyquist_plot(
16901690
elements is equivalent to providing `omega_limits`.
16911691
omega_num : int, optional
16921692
Number of samples to use for the frequency range. Defaults to
1693-
`config.defaults['freqplot.number_of_samples']`. Ignored if data is
1694-
not a list of systems.
1693+
`config.defaults['freqplot.number_of_samples']`. Ignored if`data`
1694+
isnot a system or list of systems.
16951695
plot : bool, optional
16961696
(legacy) If given, `nyquist_plot` returns the legacy return values
16971697
of (counts, contours). If False, return the values with no plot.

‎control/margins.py‎

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -536,10 +536,12 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
536536
1D array of (non-negative) frequencies (rad/s) at which
537537
to evaluate the disk-based stability margins.
538538
skew : float or array_like, optional
539-
skew parameter(s) for disk margin (default = 0.0).
540-
skew = 0.0 "balanced" sensitivity function 0.5*(S - T).
541-
skew = 1.0 sensitivity function S.
542-
skew = -1.0 complementary sensitivity function T.
539+
Skew parameter(s) for disk margin (default = 0.0):
540+
541+
* skew = 0.0 "balanced" sensitivity function 0.5*(S - T)
542+
* skew = 1.0 sensitivity function S
543+
* skew = -1.0 complementary sensitivity function T
544+
543545
returnall : bool, optional
544546
If True, return frequency-dependent margins.
545547
If False (default), return worst-case (minimum) margins.
@@ -553,7 +555,7 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
553555
DPM : float or array_like
554556
Disk-based phase margin.
555557
556-
Example
558+
Examples
557559
--------
558560
>> omega = np.logspace(-1, 3, 1001)
559561
>> P = control.ss([[0, 10], [-10, 0]], np.eye(2), [[1, 10],

‎control/matlab/__init__.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
77
This subpackage contains a number of functions that emulate some of
88
the functionality of MATLAB. The intent of these functions is to
9-
provide a simple interface to thepython control systems library
9+
provide a simple interface to thePython Control Systems Library
1010
(python-control) for people who are familiar with the MATLAB Control
1111
Systems Toolbox (tm).
1212

‎control/pzmap.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -129,7 +129,7 @@ def replot(self, cplt: ControlPlot):
129129
130130
Parameters
131131
----------
132-
cplt:ControlPlot
132+
cplt : `ControlPlot`
133133
Graphics handles of the existing plot.
134134
"""
135135
pole_zero_replot(self,cplt)

‎control/tests/discrete_test.py‎

Lines changed: 12 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -26,9 +26,11 @@ class Tsys:
2626
sys=rss(3,1,1)
2727
T.siso_ss1=StateSpace(sys.A,sys.B,sys.C,sys.D,None)
2828
T.siso_ss1c=StateSpace(sys.A,sys.B,sys.C,sys.D,0.0)
29-
T.siso_ss1d=StateSpace(sys.A,sys.B,sys.C,sys.D,0.1)
30-
T.siso_ss2d=StateSpace(sys.A,sys.B,sys.C,sys.D,0.2)
31-
T.siso_ss3d=StateSpace(sys.A,sys.B,sys.C,sys.D,True)
29+
30+
dsys=ct.sample_system(sys,1)
31+
T.siso_ss1d=StateSpace(dsys.A,dsys.B,dsys.C,dsys.D,0.1)
32+
T.siso_ss2d=StateSpace(dsys.A,dsys.B,dsys.C,dsys.D,0.2)
33+
T.siso_ss3d=StateSpace(dsys.A,dsys.B,dsys.C,dsys.D,True)
3234

3335
# Two input, two output continuous-time system
3436
A= [[-3.,4.,2.], [-1.,-3.,0.], [2.,5.,3.]]
@@ -39,17 +41,18 @@ class Tsys:
3941
T.mimo_ss1c=StateSpace(A,B,C,D,0)
4042

4143
# Two input, two output discrete-time system
42-
T.mimo_ss1d=StateSpace(A,B,C,D,0.1)
44+
T.mimo_ss1d=ct.sample_system(T.mimo_ss1c,0.1)
4345

4446
# Same system, but with a different sampling time
45-
T.mimo_ss2d=StateSpace(A,B,C,D,0.2)
47+
T.mimo_ss2d=StateSpace(
48+
T.mimo_ss1d.A,T.mimo_ss1d.B,T.mimo_ss1d.C,T.mimo_ss1d.D,0.2)
4649

4750
# Single input, single output continuus and discrete transfer function
4851
T.siso_tf1=TransferFunction([1,1], [1,2,1],None)
49-
T.siso_tf1c=TransferFunction([1,1], [1,2,1],0)
50-
T.siso_tf1d=TransferFunction([1,1], [1,2,1],0.1)
51-
T.siso_tf2d=TransferFunction([1,1], [1,2,1],0.2)
52-
T.siso_tf3d=TransferFunction([1,1], [1,2,1],True)
52+
T.siso_tf1c=TransferFunction([1,1], [1,0.2,1],0)
53+
T.siso_tf1d=TransferFunction([1,1], [1,0.2,0.1],0.1)
54+
T.siso_tf2d=TransferFunction([1,1], [1,0.2,0.1],0.2)
55+
T.siso_tf3d=TransferFunction([1,1], [1,0.2,0.1],True)
5356

5457
returnT
5558

‎control/tests/margin_test.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -384,7 +384,7 @@ def test_siso_disk_margin():
384384
# Balanced (S - T) disk-based stability margins
385385
DM,DGM,DPM=disk_margins(L,omega,skew=0.0)
386386
assert_allclose([DM], [0.46],atol=0.1)# disk margin of 0.46
387-
assert_allclose([DGM], [4.05],atol=0.1)# disk-based gain margin of 4.05 dB
387+
assert_allclose([DGM], [4.05],atol=0.1)# disk-based gain margin of 4.05 dB
388388
assert_allclose([DPM], [25.8],atol=0.1)# disk-based phase margin of 25.8 deg
389389

390390
# For SISO systems, the S-based (S) disk margin should match the third output
@@ -408,13 +408,13 @@ def test_mimo_disk_margin():
408408
# Balanced (S - T) disk-based stability margins at plant output
409409
DMo,DGMo,DPMo=disk_margins(Lo,omega,skew=0.0)
410410
assert_allclose([DMo], [0.3754],atol=0.1)# disk margin of 0.3754
411-
assert_allclose([DGMo], [3.3],atol=0.1)# disk-based gain margin of 3.3 dB
411+
assert_allclose([DGMo], [3.3],atol=0.1)# disk-based gain margin of 3.3 dB
412412
assert_allclose([DPMo], [21.26],atol=0.1)# disk-based phase margin of 21.26 deg
413413

414414
# Balanced (S - T) disk-based stability margins at plant input
415415
DMi,DGMi,DPMi=disk_margins(Li,omega,skew=0.0)
416416
assert_allclose([DMi], [0.3754],atol=0.1)# disk margin of 0.3754
417-
assert_allclose([DGMi], [3.3],atol=0.1)# disk-based gain margin of 3.3 dB
417+
assert_allclose([DGMi], [3.3],atol=0.1)# disk-based gain margin of 3.3 dB
418418
assert_allclose([DPMi], [21.26],atol=0.1)# disk-based phase margin of 21.26 deg
419419
else:
420420
# Slycot not installed. Should throw exception.
@@ -435,7 +435,7 @@ def test_siso_disk_margin_return_all():
435435
atol=0.01)# sensitivity peak at 1.94 rad/s
436436
assert_allclose([min(DM)], [0.46],atol=0.1)# disk margin of 0.46
437437
assert_allclose([DGM[np.argmin(DM)]], [4.05],\
438-
atol=0.1)# disk-based gain margin of 4.05 dB
438+
atol=0.1)# disk-based gain margin of 4.05 dB
439439
assert_allclose([DPM[np.argmin(DM)]], [25.8],\
440440
atol=0.1)# disk-based phase margin of 25.8 deg
441441

@@ -457,7 +457,7 @@ def test_mimo_disk_margin_return_all():
457457
atol=0.01)# sensitivity peak at 0 rad/s (or smallest provided)
458458
assert_allclose([min(DMo)], [0.3754],atol=0.1)# disk margin of 0.3754
459459
assert_allclose([DGMo[np.argmin(DMo)]], [3.3],\
460-
atol=0.1)# disk-based gain margin of 3.3 dB
460+
atol=0.1)# disk-based gain margin of 3.3 dB
461461
assert_allclose([DPMo[np.argmin(DMo)]], [21.26],\
462462
atol=0.1)# disk-based phase margin of 21.26 deg
463463

@@ -468,7 +468,7 @@ def test_mimo_disk_margin_return_all():
468468
assert_allclose([min(DMi)], [0.3754],\
469469
atol=0.1)# disk margin of 0.3754
470470
assert_allclose([DGMi[np.argmin(DMi)]], [3.3],\
471-
atol=0.1)# disk-based gain margin of 3.3 dB
471+
atol=0.1)# disk-based gain margin of 3.3 dB
472472
assert_allclose([DPMi[np.argmin(DMi)]], [21.26],\
473473
atol=0.1)# disk-based phase margin of 21.26 deg
474474
else:

‎doc/develop.rst‎

Lines changed: 2 additions & 2 deletions
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@@ -110,8 +110,8 @@ Filenames
110110
* Source files are lower case, usually less than 10 characters (and 8
111111
or less is better).
112112

113-
* Unit tests (in `control/tests/`) are of the form `module_test.py` or
114-
`module_function.py`.
113+
* Unit tests (in `control/tests/`) are of the form `module_test.py`,
114+
`module_functionality_test.py`, or `functionality_test.py`.
115115

116116

117117
Class names

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