May 23, 2024 · May 22, 2024
diff --git a/control/statefbk.py b/control/statefbk.py
    """Place closed loop eigenvalues.
    K = place_varga(A, B, p, dtime=False, alpha=None)

 RequiredParameters
    Parameters
    ----------
    A : 2D array_like
        Dynamics matrix
    B : 2D array_like
        Input matrix
    p : 1D array_like
        Desired eigenvalue locations

    Optional Parameters
    ---------------
    dtime : bool
    dtime : bool, optional
        False for continuous time pole placement or True for discrete time.
        The default is dtime=False.

    alpha : double scalar
    alpha : float, optional
        If `dtime` is false then place_varga will leave the eigenvalues with
        real part less than alpha untouched.  If `dtime` is true then
        place_varga will leave eigenvalues with modulus less than alpha
    K : 2D array (or matrix)
        Gain such that A - B K has eigenvalues given in p.

    Algorithm
    ---------
    See Also
    --------
    place, acker

    Notes
    -----
    This function is a wrapper for the slycot function sb01bd, which
    implements the pole placement algorithm of Varga [1]. In contrast to the
    implements the pole placement algorithm of Varga [1]_. In contrast to the
    algorithm used by place(), the Varga algorithm can place multiple poles at
    the same location. The placement, however, may not be as robust.

    [1] Varga A. "A Schur method for pole assignment."  IEEE Trans. Automatic
        Control, Vol. AC-26, pp. 517-519, 1981.
    References
    ----------
    .. [1] Varga A. "A Schur method for pole assignment."  IEEE Trans. Automatic
       Control, Vol. AC-26, pp. 517-519, 1981.

    Examples
    --------
    >>> A = [[-1, -1], [0, 1]]
    >>> B = [[0], [1]]
    >>> K = place_varga(A, B, [-2, -5])

    See Also
    --------
    place, acker

    >>> K = ct.place_varga(A, B, [-2, -5])
    """

    # Make sure that SLICOT is installed
Original file line number	Diff line number	Diff line change
Expand Up		@@ -150,22 +150,18 @@ def place_varga(A, B, p, dtime=False, alpha=None):
		"""Place closed loop eigenvalues.
		K = place_varga(A, B, p, dtime=False, alpha=None)

		RequiredParameters
		Parameters
		----------
		A : 2D array_like
		Dynamics matrix
		B : 2D array_like
		Input matrix
		p : 1D array_like
		Desired eigenvalue locations

		Optional Parameters
		---------------
		dtime : bool
		dtime : bool, optional
		False for continuous time pole placement or True for discrete time.
		The default is dtime=False.

		alpha : double scalar
		alpha : float, optional
		If `dtime` is false then place_varga will leave the eigenvalues with
		real part less than alpha untouched. If `dtime` is true then
		place_varga will leave eigenvalues with modulus less than alpha
Expand All		@@ -179,26 +175,27 @@ def place_varga(A, B, p, dtime=False, alpha=None):
		K : 2D array (or matrix)
		Gain such that A - B K has eigenvalues given in p.

		Algorithm
		---------
		See Also
		--------
		place, acker

		Notes
		-----
		This function is a wrapper for the slycot function sb01bd, which
		implements the pole placement algorithm of Varga [1]. In contrast to the
		implements the pole placement algorithm of Varga [1]_. In contrast to the
		algorithm used by place(), the Varga algorithm can place multiple poles at
		the same location. The placement, however, may not be as robust.

		[1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
		Control, Vol. AC-26, pp. 517-519, 1981.
		References
		----------
		.. [1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
		Control, Vol. AC-26, pp. 517-519, 1981.

		Examples
		--------
		>>> A = [[-1, -1], [0, 1]]
		>>> B = [[0], [1]]
		>>> K = place_varga(A, B, [-2, -5])

		See Also
		--------
		place, acker

		>>> K = ct.place_varga(A, B, [-2, -5])
		"""

		# Make sure that SLICOT is installed
Expand Down