Mar 31, 2023 · Mar 26, 2023 · Mar 26, 2023 · Mar 26, 2023 · Mar 26, 2023 · Mar 26, 2023
diff --git a/README.rst b/README.rst
 The Python Control Systems Library is a Python module that implements basic
 operations for analysis and design of feedback control systems.


 Have a go now!
 ==============
 --------------
 Try out the examples in the examples folder using the binder service.

 .. image:: https://mybinder.org/badge_logo.svg
 :target: https://mybinder.org/v2/gh/python-control/python-control/HEAD

 The package can also be installed on Google Colab using the commands::

  !pip install control
  import control as ct

 Features
 --------
 - Nonlinear systems: optimization-based control, describing functions, differential flatness

 Links
 =====
 -----

 - Project home page: http://python-control.org
 - Source code repository: https://github.com/python-control/python-control
 - Documentation: http://python-control.readthedocs.org/
 - Issue tracker: https://github.com/python-control/python-control/issues
 - Mailing list: http://sourceforge.net/p/python-control/mailman/


 Dependencies
 ============
 ------------

 The package requires numpy, scipy, and matplotlib.  In addition, some routines
 use a module called slycot, that is a Python wrapper around some FORTRAN

 https://github.com/python-control/Slycot


 Installation
 ============

 The easiest way to get started with the Control Systems library is
 using `Conda <https://conda.io>`_.

 The Control Systems library hasbeenpackagesfor the `conda-forge
 The Control Systems library has packagesavailable using the `conda-forge
 <https://conda-forge.org>`_ Conda channel, and as of Slycot version
 0.3.4, binaries for that package are available for 64-bit Windows,
 OSX, and Linux.

  conda install -c conda-forge control slycot

 Mixing packages from conda-forge and the default conda channel can
 sometimes cause problems with dependencies, so it is usually best to
 instally NumPy, SciPy, and Matplotlib from conda-forge as well.

 Pip
 ---

  pip install control

 If you install Slycot using pip you'll need a development environment
 (e.g., Python development files, C and Fortran compilers).
 (e.g., Python development files, C and Fortran compilers).  Pip
 installation can be particularly complicated for Windows.

 Installing from source
 ----------------------
 Article and Citation Information
 ================================

 An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::
 An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about
 the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::

  @inproceedings{python-control2021,
    title={The Python Control Systems Library (python-control)},
    author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
    author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and
            Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
    booktitle={60th IEEE Conference on Decision and Control (CDC)},
    pages={4875--4881},
    year={2021},
diff --git a/control/config.py b/control/config.py
    >>> ct.defaults['freqplot.number_of_samples']
    100
    >>> # do some customized freqplotting
    >>> ct.reset_defaults()

    """
    if not isinstance(module, str):
    --------
    >>> ct.use_matlab_defaults()
    >>> # do some matlab style plotting
    >>> ct.reset_defaults()

    """
    set_defaults('freqplot', dB=True, deg=True, Hz=False, grid=True)
    --------
    >>> ct.use_fbs_defaults()
    >>> # do some FBS style plotting
    >>> ct.reset_defaults()

    """
    set_defaults('freqplot', dB=False, deg=True, Hz=False, grid=False)
    --------
    >>> ct.use_numpy_matrix(True, False)
    >>> # do some legacy calculations using np.matrix
    >>> ct.reset_defaults()

    """
    if flag and warn:
    >>> ct.use_legacy_defaults("0.9.0")
    (0, 9, 0)
    >>> # do some legacy style plotting
    >>> ct.reset_defaults()

    """
    import re
diff --git a/control/ctrlutil.py b/control/ctrlutil.py
 from . import lti
 import numpy as np
 import math
 import warnings

 __all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']

    False

    """
    warnings.warn("issys() is deprecated; use isinstance(obj, ct.LTI)",
                  FutureWarning, stacklevel=2)
    return isinstance(obj, lti.LTI)

 def db2mag(db):
diff --git a/control/freqplot.py b/control/freqplot.py
        List of linear input/output systems (single system is OK). Nyquist
        curves for each system are plotted on the same graph.

    plot : boolean
        If True, plot magnitude

    omega : array_like
    omega : array_like, optional
        Set of frequencies to be evaluated, in rad/sec.

    omega_limits : array_like of two values
    omega_limits : array_like of two values, optional
        Limits to the range of frequencies. Ignored if omega is provided, and
        auto-generated if omitted.

    omega_num : int
    omega_num : int, optional
        Number of frequency samples to plot.  Defaults to
        config.defaults['freqplot.number_of_samples'].

    color : string
    plot : boolean, optional
        If True (default), plot the Nyquist plot.

    color : string, optional
        Used to specify the color of the line and arrowhead.

    return_contour : bool, optional
       to `none` will turn off indentation.  If `return_contour` is True, the
       exact contour used for evaluation is returned.

    3. For those portions of the Nyquist plot in which the contour is
       indented to avoid poles, resuling in a scaling of the Nyquist plot,
       the line styles are according to the settings of the `primary_style`
       and `mirror_style` keywords.  By default the scaled portions of the
       primary curve use a dotted line style and the scaled portion of the
       mirror image use a dashdot line style.

    Examples
    --------
    >>> G = ct.zpk([], [-1, -2, -3], gain=100)
diff --git a/control/matlab/wrappers.py b/control/matlab/wrappers.py
 import numpy as np
 from ..iosys import ss
 from ..xferfcn import tf
 from ..ctrlutil importissys
 from ..lti importLTI
 from ..exception import ControlArgument
 from scipy.signal import zpk2tf
 from warnings import warn
    i = 0
    while i < len(args):
        # Check to see if this is a system of some sort
        ifissys(args[i]):
        ifisinstance(args[i], LTI):
            # Append the system to our list of systems
            syslist.append(args[i])
            i += 1
diff --git a/control/tests/ctrlutil_test.py b/control/tests/ctrlutil_test.py
 """ctrlutil_test.py"""

 import numpy as np

 import pytest
 import control as ct
 from control.ctrlutil import db2mag, mag2db, unwrap

 class TestUtils:
    def test_mag2db_array(self):
        db_array = mag2db(self.mag)
        np.testing.assert_array_almost_equal(db_array, self.db)

    def test_issys(self):
        sys = ct.rss(2, 1, 1)
        with pytest.warns(FutureWarning, match="deprecated; use isinstance"):
            ct.issys(sys)
diff --git a/control/tests/flatsys_test.py b/control/tests/flatsys_test.py
            elif re.match("Iteration limit.*", traj_ocp.message) and \
                 re.match(
                     "conda ubuntu-3.* Generic", os.getenv('JOBNAME', '')) and \
                 re.match("1.24.[01]", np.__version__):
                 re.match("1.24.[012]", np.__version__):
                pytest.xfail("gh820: iteration limit exceeded")

            else:
diff --git a/doc/conf.py b/doc/conf.py
 import re
 import control

 # Get the version number for this commmit (including alpha/beta/rc tags)
 release = re.sub('^v', '', os.popen('git describe').read().strip())

 # The short X.Y.Z version
 version = re.sub(r'(\d+\.\d+\.\d+)(.*)', r'\1',control.__version__)
 version = re.sub(r'(\d+\.\d+\.\d+(.post\d+)?)(.*)', r'\1',release)

 # The full version, including alpha/beta/rc tags
 release = control.__version__
 print("version %s, release %s" % (version, release))

 # -- General configuration ---------------------------------------------------
        linespec = ""

    base_url = "https://github.com/python-control/python-control/blob/"
    if'dev' in control.__version__:
    ifrelease != version:      # development release
        return base_url + "main/control/%s%s" % (fn, linespec)
    else:
        return base_url + "%s/control/%s%s" % (
           control.__version__, fn, linespec)
    else:                       # specific version
        return base_url + "%s/control/%s%s" % (version, fn, linespec)

 # Don't automaticall show all members of class in Methods & Attributes section
 numpydoc_show_class_members = False
 import control as ct
 import control.optimal as obc
 import control.flatsys as fs
 ct.reset_defaults()
 """
Original file line number	Diff line number	Diff line change
Expand Up		@@ -22,14 +22,17 @@ Python Control Systems Library
		The Python Control Systems Library is a Python module that implements basic
		operations for analysis and design of feedback control systems.


		Have a go now!
		==============
		--------------
		Try out the examples in the examples folder using the binder service.

		.. image:: https://mybinder.org/badge_logo.svg
		:target: https://mybinder.org/v2/gh/python-control/python-control/HEAD

		The package can also be installed on Google Colab using the commands::

		!pip install control
		import control as ct

		Features
		--------
Expand All		@@ -44,17 +47,16 @@ Features
		- Nonlinear systems: optimization-based control, describing functions, differential flatness

		Links
		=====
		-----

		- Project home page: http://python-control.org
		- Source code repository: https://github.com/python-control/python-control
		- Documentation: http://python-control.readthedocs.org/
		- Issue tracker: https://github.com/python-control/python-control/issues
		- Mailing list: http://sourceforge.net/p/python-control/mailman/


		Dependencies
		============
		------------

		The package requires numpy, scipy, and matplotlib. In addition, some routines
		use a module called slycot, that is a Python wrapper around some FORTRAN
Expand All		@@ -64,6 +66,7 @@ functionality is limited or absent, and installation of slycot is recommended

		https://github.com/python-control/Slycot


		Installation
		============

Expand All		@@ -73,7 +76,7 @@ Conda and conda-forge
		The easiest way to get started with the Control Systems library is
		using `Conda <https://conda.io>`_.

		The Control Systems library hasbeenpackagesfor the `conda-forge
		The Control Systems library has packagesavailable using the `conda-forge
		<https://conda-forge.org>`_ Conda channel, and as of Slycot version
		0.3.4, binaries for that package are available for 64-bit Windows,
		OSX, and Linux.
Expand All		@@ -83,6 +86,10 @@ conda environment, run::

		conda install -c conda-forge control slycot

		Mixing packages from conda-forge and the default conda channel can
		sometimes cause problems with dependencies, so it is usually best to
		instally NumPy, SciPy, and Matplotlib from conda-forge as well.

		Pip
		---

Expand All		@@ -92,7 +99,8 @@ To install using pip::
		pip install control

		If you install Slycot using pip you'll need a development environment
		(e.g., Python development files, C and Fortran compilers).
		(e.g., Python development files, C and Fortran compilers). Pip
		installation can be particularly complicated for Windows.

		Installing from source
		----------------------
Expand All		@@ -106,11 +114,13 @@ toplevel `python-control` directory::
		Article and Citation Information
		================================

		An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::
		An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about
		the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::

		@inproceedings{python-control2021,
		title={The Python Control Systems Library (python-control)},
		author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
		author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and
		Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
		booktitle={60th IEEE Conference on Decision and Control (CDC)},
		pages={4875--4881},
		year={2021},
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -76,7 +76,6 @@ def set_defaults(module, **keywords):
		>>> ct.defaults['freqplot.number_of_samples']
		100
		>>> # do some customized freqplotting
		>>> ct.reset_defaults()

		"""
		if not isinstance(module, str):
Expand DownExpand Up		@@ -209,7 +208,6 @@ def use_matlab_defaults():
		--------
		>>> ct.use_matlab_defaults()
		>>> # do some matlab style plotting
		>>> ct.reset_defaults()

		"""
		set_defaults('freqplot', dB=True, deg=True, Hz=False, grid=True)
Expand All		@@ -229,7 +227,6 @@ def use_fbs_defaults():
		--------
		>>> ct.use_fbs_defaults()
		>>> # do some FBS style plotting
		>>> ct.reset_defaults()

		"""
		set_defaults('freqplot', dB=False, deg=True, Hz=False, grid=False)
Expand DownExpand Up		@@ -263,7 +260,6 @@ class and functions. If flat is `False`, then matrices are
		--------
		>>> ct.use_numpy_matrix(True, False)
		>>> # do some legacy calculations using np.matrix
		>>> ct.reset_defaults()

		"""
		if flag and warn:
Expand All		@@ -285,7 +281,6 @@ def use_legacy_defaults(version):
		>>> ct.use_legacy_defaults("0.9.0")
		(0, 9, 0)
		>>> # do some legacy style plotting
		>>> ct.reset_defaults()

		"""
		import re
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -44,6 +44,7 @@
		from . import lti
		import numpy as np
		import math
		import warnings

		__all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']

Expand DownExpand Up		@@ -99,6 +100,8 @@ def issys(obj):
		False

		"""
		warnings.warn("issys() is deprecated; use isinstance(obj, ct.LTI)",
		FutureWarning, stacklevel=2)
		return isinstance(obj, lti.LTI)

		def db2mag(db):
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -558,21 +558,21 @@ def nyquist_plot(
		List of linear input/output systems (single system is OK). Nyquist
		curves for each system are plotted on the same graph.

		plot : boolean
		If True, plot magnitude

		omega : array_like
		omega : array_like, optional
		Set of frequencies to be evaluated, in rad/sec.

		omega_limits : array_like of two values
		omega_limits : array_like of two values, optional
		Limits to the range of frequencies. Ignored if omega is provided, and
		auto-generated if omitted.

		omega_num : int
		omega_num : int, optional
		Number of frequency samples to plot. Defaults to
		config.defaults['freqplot.number_of_samples'].

		color : string
		plot : boolean, optional
		If True (default), plot the Nyquist plot.

		color : string, optional
		Used to specify the color of the line and arrowhead.

		return_contour : bool, optional
Expand DownExpand Up		@@ -690,6 +690,13 @@ def nyquist_plot(
		to `none` will turn off indentation. If `return_contour` is True, the
		exact contour used for evaluation is returned.

		3. For those portions of the Nyquist plot in which the contour is
		indented to avoid poles, resuling in a scaling of the Nyquist plot,
		the line styles are according to the settings of the `primary_style`
		and `mirror_style` keywords. By default the scaled portions of the
		primary curve use a dotted line style and the scaled portion of the
		mirror image use a dashdot line style.

		Examples
		--------
		>>> G = ct.zpk([], [-1, -2, -3], gain=100)
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -5,7 +5,7 @@
		import numpy as np
		from ..iosys import ss
		from ..xferfcn import tf
		from ..ctrlutil importissys
		from ..lti importLTI
		from ..exception import ControlArgument
		from scipy.signal import zpk2tf
		from warnings import warn
Expand DownExpand Up		@@ -124,7 +124,7 @@ def _parse_freqplot_args(*args):
		i = 0
		while i < len(args):
		# Check to see if this is a system of some sort
		ifissys(args[i]):
		ifisinstance(args[i], LTI):
		# Append the system to our list of systems
		syslist.append(args[i])
		i += 1
Expand Down
Original file line number	Diff line number	Diff line change
		@@ -1,7 +1,8 @@
		"""ctrlutil_test.py"""

		import numpy as np

		import pytest
		import control as ct
		from control.ctrlutil import db2mag, mag2db, unwrap

		class TestUtils:
Expand DownExpand Up		@@ -58,3 +59,8 @@ def test_mag2db(self):
		def test_mag2db_array(self):
		db_array = mag2db(self.mag)
		np.testing.assert_array_almost_equal(db_array, self.db)

		def test_issys(self):
		sys = ct.rss(2, 1, 1)
		with pytest.warns(FutureWarning, match="deprecated; use isinstance"):
		ct.issys(sys)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -212,7 +212,7 @@ def test_kinematic_car_ocp(
		elif re.match("Iteration limit.*", traj_ocp.message) and \
		re.match(
		"conda ubuntu-3.* Generic", os.getenv('JOBNAME', '')) and \
		re.match("1.24.[01]", np.__version__):
		re.match("1.24.[012]", np.__version__):
		pytest.xfail("gh820: iteration limit exceeded")

		else:
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -37,11 +37,12 @@
		import re
		import control

		# Get the version number for this commmit (including alpha/beta/rc tags)
		release = re.sub('^v', '', os.popen('git describe').read().strip())

		# The short X.Y.Z version
		version = re.sub(r'(\d+\.\d+\.\d+)(.*)', r'\1',control.__version__)
		version = re.sub(r'(\d+\.\d+\.\d+(.post\d+)?)(.*)', r'\1',release)

		# The full version, including alpha/beta/rc tags
		release = control.__version__
		print("version %s, release %s" % (version, release))

		# -- General configuration ---------------------------------------------------
Expand DownExpand Up		@@ -206,11 +207,10 @@ def linkcode_resolve(domain, info):
		linespec = ""

		base_url = "https://github.com/python-control/python-control/blob/"
		if'dev' in control.__version__:
		ifrelease != version: # development release
		return base_url + "main/control/%s%s" % (fn, linespec)
		else:
		return base_url + "%s/control/%s%s" % (
		control.__version__, fn, linespec)
		else: # specific version
		return base_url + "%s/control/%s%s" % (version, fn, linespec)

		# Don't automaticall show all members of class in Methods & Attributes section
		numpydoc_show_class_members = False
Expand DownExpand Up		@@ -282,4 +282,5 @@ def linkcode_resolve(domain, info):
		import control as ct
		import control.optimal as obc
		import control.flatsys as fs
		ct.reset_defaults()
		"""