@@ -150,22 +150,18 @@ def place_varga(A, B, p, dtime=False, alpha=None):
150150"""Place closed loop eigenvalues.
151151 K = place_varga(A, B, p, dtime=False, alpha=None)
152152
153- Required Parameters
153+ Parameters
154154 ----------
155155 A : 2D array_like
156156 Dynamics matrix
157157 B : 2D array_like
158158 Input matrix
159159 p : 1D array_like
160160 Desired eigenvalue locations
161-
162- Optional Parameters
163- ---------------
164- dtime : bool
161+ dtime : bool, optional
165162 False for continuous time pole placement or True for discrete time.
166163 The default is dtime=False.
167-
168- alpha : double scalar
164+ alpha : float, optional
169165 If `dtime` is false then place_varga will leave the eigenvalues with
170166 real part less than alpha untouched. If `dtime` is true then
171167 place_varga will leave eigenvalues with modulus less than alpha
@@ -179,26 +175,27 @@ def place_varga(A, B, p, dtime=False, alpha=None):
179175 K : 2D array (or matrix)
180176 Gain such that A - B K has eigenvalues given in p.
181177
182- Algorithm
183- ---------
178+ See Also
179+ --------
180+ place, acker
181+
182+ Notes
183+ -----
184184 This function is a wrapper for the slycot function sb01bd, which
185- implements the pole placement algorithm of Varga [1]. In contrast to the
185+ implements the pole placement algorithm of Varga [1]_ . In contrast to the
186186 algorithm used by place(), the Varga algorithm can place multiple poles at
187187 the same location. The placement, however, may not be as robust.
188188
189- [1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
190- Control, Vol. AC-26, pp. 517-519, 1981.
189+ References
190+ ----------
191+ .. [1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
192+ Control, Vol. AC-26, pp. 517-519, 1981.
191193
192194 Examples
193195 --------
194196 >>> A = [[-1, -1], [0, 1]]
195197 >>> B = [[0], [1]]
196- >>> K = place_varga(A, B, [-2, -5])
197-
198- See Also
199- --------
200- place, acker
201-
198+ >>> K = ct.place_varga(A, B, [-2, -5])
202199 """
203200
204201# Make sure that SLICOT is installed
@@ -269,6 +266,10 @@ def acker(A, B, poles):
269266 -------
270267 K : 2D array (or matrix)
271268 Gains such that A - B K has given eigenvalues
269+
270+ See Also
271+ --------
272+ place, place_varga
272273
273274 """
274275# Convert the inputs to matrices