From df71ed69eb7931a96cbba7e46c4a8c01c421a563 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 17 Oct 2024 15:02:04 +0200
Subject: [PATCH 1/2] Add space after commas

---
 control/modelsimp.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/control/modelsimp.py b/control/modelsimp.py
index d2eadc4c3..be9949374 100644
--- a/control/modelsimp.py
+++ b/control/modelsimp.py
@@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):
 
     # Set up the full problem
     # Create matrix of (shifted) inputs
-    UUT = np.zeros((p*m,(l)))
+    UUT = np.zeros((p*m, l))
     for i in range(m):
         # Shift previous column down and keep zeros at the top
-        UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i]
+        UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]
 
     # Truncate first t=0 or t=m time steps, transpose the problem for lsq
-    YY = Ymat[:,t:].T
-    UU = UUT[:,t:].T
+    YY = Ymat[:, t:].T
+    UU = UUT[:, t:].T
     
     # Solve for the Markov parameters from  YY = UU @ H.T
     HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None)
     H = HT.T/dt # scaling
 
-    H = H.reshape(q,m,p) # output, time*input -> output, time, input
-    H = H.transpose(0,2,1) # output, input, time
+    H = H.reshape(q, m, p) # output, time*input -> output, time, input
+    H = H.transpose(0, 2, 1) # output, input, time
 
     # for siso return a 1D array instead of a 3D array
     if q == 1 and p == 1:

From b70c0edae4f3b6942a6dc694921e304fe3c888a3 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Sat, 19 Oct 2024 18:35:41 +0200
Subject: [PATCH 2/2] Update docstring hash for markov

---
 control/tests/docstrings_test.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/control/tests/docstrings_test.py b/control/tests/docstrings_test.py
index 28bd0f38c..70a0cc3c1 100644
--- a/control/tests/docstrings_test.py
+++ b/control/tests/docstrings_test.py
@@ -39,7 +39,7 @@
     control.ss2tf:                      '48ff25d22d28e7b396e686dd5eb58831',
     control.tf:                         '53a13f4a7f75a31c81800e10c88730ef',
     control.tf2ss:                      '086a3692659b7321c2af126f79f4bc11',
-    control.markov:                     '753309de348132ef238e78ac756412c1',
+    control.markov:                     'eda7c4635bbb863ae6659e574285d356',
     control.gangof4:                    '0e52eb6cf7ce024f9a41f3ae3ebf04f7',
 }