python-control · murrayrm · Feb 3, 2025 · Dec 28, 2024 · Dec 28, 2024 · Dec 21, 2024
diff --git a/.github/conda-env/doctest-env.yml b/.github/conda-env/doctest-env.yml
@@ -13,3 +13,4 @@ dependencies:
   - nbsphinx
   - docutils
   - numpydoc
+  - sphinx-copybutton
diff --git a/.github/conda-env/test-env.yml b/.github/conda-env/test-env.yml
@@ -9,3 +9,4 @@ dependencies:
   - numpy
   - matplotlib
   - scipy
+  - numpydoc
diff --git a/.github/workflows/doctest.yml b/.github/workflows/doctest.yml
@@ -36,6 +36,13 @@ jobs:
         make html
         make doctest
 
+    - name: Run pytest
+      shell: bash -l {0}
+      working-directory: doc
+      run: |
+        make html
+        PYTHONPATH=../ pytest
+
     - name: Archive results
       uses: actions/upload-artifact@v4
       with:

diff --git a/.github/workflows/os-blas-test-matrix.yml b/.github/workflows/os-blas-test-matrix.yml
@@ -256,7 +256,7 @@ jobs:
       - name: Install Wheel
         run: |
           python -m pip install --upgrade pip
-          pip install matplotlib scipy pytest pytest-cov pytest-timeout coverage
+          pip install matplotlib scipy pytest pytest-cov pytest-timeout coverage numpydoc
           pip install slycot-wheels/${{ matrix.packagekey }}/slycot*.whl
           pip show slycot
       - name: Test with pytest

diff --git a/.gitignore b/.gitignore
@@ -14,7 +14,7 @@ record.txt
 .coverage
 doc/_build
 doc/generated
-examples/.ipynb_checkpoints/
+.ipynb_checkpoints/
 .settings/org.eclipse.core.resources.prefs
 .pydevproject
 .project

diff --git a/README.rst b/README.rst
@@ -31,7 +31,7 @@ Try out the examples in the examples folder using the binder service.
 
 The package can also be installed on Google Colab using the commands::
 
-  !pip install control
+  %pip install control
   import control as ct
 
 Features
@@ -49,11 +49,11 @@ Features
 Links
 -----
 
-- Project home page: http://python-control.org
+- Project home page: https://python-control.org
 - Source code repository: https://github.com/python-control/python-control
-- Documentation: http://python-control.readthedocs.org/
+- Documentation: https://python-control.readthedocs.io/
 - Issue tracker: https://github.com/python-control/python-control/issues
-- Mailing list: http://sourceforge.net/p/python-control/mailman/
+- Mailing list: https://sourceforge.net/p/python-control/mailman/
 
 Dependencies
 ------------
@@ -158,7 +158,7 @@ License
 -------
 
 This is free software released under the terms of `the BSD 3-Clause
-License <http://opensource.org/licenses/BSD-3-Clause>`_.  There is no
+License <https://opensource.org/licenses/BSD-3-Clause>`_.  There is no
 warranty; not even for merchantability or fitness for a particular
 purpose.  Consult LICENSE for copying conditions.
 

diff --git a/benchmarks/optestim_bench.py b/benchmarks/optestim_bench.py
@@ -64,7 +64,6 @@ def time_oep_minimizer_methods(minimizer_name, noise_name, initial_guess):
         initial_guess = (res.states, V)
     else:
         initial_guess = None
-
 
     # Set up optimal estimation function using Gaussian likelihoods for cost
     traj_cost = opt.gaussian_likelihood_cost(sys, Rv, Rw)

diff --git a/control/__init__.py b/control/__init__.py
@@ -1,53 +1,27 @@
 # __init__.py - initialization for control systems toolbox
 #
-# Author: Richard M. Murray
-# Date: 24 May 09
-#
-# This file contains the initialization information from the control package.
-#
-# Copyright (c) 2009 by California Institute of Technology
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in the
-#    documentation and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the California Institute of Technology nor
-#    the names of its contributors may be used to endorse or promote
-#    products derived from this software without specific prior
-#    written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CALTECH
-# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
-# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
-# SUCH DAMAGE.
-#
-# $Id$
-
-"""
-The Python Control Systems Library :mod:`control` provides common functions
-for analyzing and designing feedback control systems.
+# Initial author: Richard M. Murray
+# Creation date: 24 May 2009
+# Use `git shortlog -n -s` for full list of contributors
+
+"""The Python Control Systems Library (python-control) provides common
+functions for analyzing and designing feedback control systems.
+
+The initial goal for the package is to implement all of the
+functionality required to work through the examples in the textbook
+`Feedback Systems <https://fbsbook.org>`_ by Astrom and Murray.  In
+addition to standard techniques available for linear control systems,
+support for nonlinear systems (including trajectory generation, gain
+scheduling, phase plane diagrams, and describing functions) is
+included.  A :ref:`matlab-module` is available that provides many of
+the common functions corresponding to commands available in the MATLAB
+Control Systems Toolbox.
 
 Documentation is available in two forms: docstrings provided with the code,
-and the python-control users guide, available from `the python-control
+and the python-control User Guide, available from the `python-control
 homepage <https://www.python-control.org>`_.
 
-The docstring examples assume that the following import commands::
+The docstring examples assume the following import commands::
 
   >>> import numpy as np
   >>> import control as ct
@@ -57,14 +31,17 @@
 
 The main control package includes the most common functions used in
 analysis, design, and simulation of feedback control systems.  Several
-additional subpackages are available that provide more specialized
-functionality:
+additional subpackages and modules are available that provide more
+specialized functionality:
 
 * :mod:`~control.flatsys`: Differentially flat systems
 * :mod:`~control.matlab`: MATLAB compatibility module
 * :mod:`~control.optimal`: Optimization-based control
 * :mod:`~control.phaseplot`: 2D phase plane diagrams
 
+These subpackages and modules are described in more detail in the
+subpackage and module docstrings and in the User Guide.
+
 """
 
 # Import functions from within the control system library
@@ -123,14 +100,5 @@
 except ImportError:
     __version__ = "dev"
 
-# patch the LTI class with function aliases for convenience functions
-# this needs to be done after the fact since the modules that contain the functions
-# all heavily depend on the LTI class
-LTI.to_ss = ss
-LTI.to_tf = tf
-LTI.bode_plot = bode_plot
-LTI.nyquist_plot = nyquist_plot
-LTI.nichols_plot = nichols_plot
-
 # Initialize default parameter values
 reset_defaults()
-Original file line number
+Diff line change
@@ Expand Up / @@ -9,3 +9,4 @@ dependencies: @@
       - numpy
       - matplotlib
       - scipy
+      - numpydoc