Oct 8, 2022 · Oct 7, 2022 · Oct 7, 2022
diff --git a/control/iosys.py b/control/iosys.py
        Convert a linear system into space system form. Always creates a
        new system, even if sys is already a state space system.

    ``ss(updfcn, outfucn)```
    ``ss(updfcn, outfucn)``
        Create a nonlinear input/output system with update function ``updfcn``
        and output function ``outfcn``.  See :class:`NonlinearIOSystem` for
        more information.
        Everything that the constructor of :class:`numpy.matrix` accepts is
        permissible here too.

    ``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'],
         states=['x1', ..., 'xn'])
    ``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])``
        Create a system with named input, output, and state signals.

    Parameters
diff --git a/control/passivity.py b/control/passivity.py
    guaranteed to have an output of True (the system might not be passive with
    both indices at the same time).

    For more details, see [1].
    For more details, see [1]_.

    References
    ----------
diff --git a/control/sisotool.py b/control/sisotool.py
    derivative terms are given instead by Kp, Ki*dt/2*(z+1)/(z-1), and
    Kd/dt*(z-1)/z, respectively.

    ::

          ------> C_ff ------    d
          |                 |    |
      r   |     e           V    V  u         y
diff --git a/doc/conventions.rst b/doc/conventions.rst

 where u is the input, y is the output, and x is the state.

 To create a state space system, use the :fun:`ss` function:
 To create a state space system, use the :func:`ss` function:

  sys = ct.ss(A, B, C, D)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2242,7 +2242,7 @@ def ss(args, *kwargs):
		Convert a linear system into space system form. Always creates a
		new system, even if sys is already a state space system.

		``ss(updfcn, outfucn)```
		``ss(updfcn, outfucn)``
		Create a nonlinear input/output system with update function ``updfcn``
		and output function ``outfcn``. See :class:`NonlinearIOSystem` for
		more information.
Expand All		@@ -2269,8 +2269,7 @@ def ss(args, *kwargs):
		Everything that the constructor of :class:`numpy.matrix` accepts is
		permissible here too.

		``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'],
		states=['x1', ..., 'xn'])
		``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])``
		Create a system with named input, output, and state signals.

		Parameters
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Original file line number	Diff line number	Diff line change
Expand Up		@@ -281,7 +281,7 @@ def ispassive(sys, ofp_index=0, ifp_index=0):
		guaranteed to have an output of True (the system might not be passive with
		both indices at the same time).

		For more details, see [1].
		For more details, see [1]_.

		References
		----------
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -213,6 +213,8 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
		derivative terms are given instead by Kp, Kidt/2(z+1)/(z-1), and
		Kd/dt*(z-1)/z, respectively.

		::

		------> C_ff ------ d
		\| \| \|
		r \| e V V u y
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Original file line number	Diff line number	Diff line change
Expand Up		@@ -29,7 +29,7 @@ of linear time-invariant (LTI) systems:

		where u is the input, y is the output, and x is the state.

		To create a state space system, use the :fun:`ss` function:
		To create a state space system, use the :func:`ss` function:

		sys = ct.ss(A, B, C, D)

Expand Down