python-control · murrayrm · Jul 4, 2025 · Mar 8, 2025 · Mar 8, 2025 · Mar 8, 2025
diff --git a/control/iosys.py b/control/iosys.py
@@ -46,6 +46,24 @@ class NamedSignal(np.ndarray):
     This class modifies the `numpy.ndarray` class and allows signals to
     be accessed using the signal name in addition to indices and slices.
 
+    Signals can be either a 2D array, index by signal and time, or a 3D
+    array, indexed by signal, trace, and time.
+
+    Attributes
+    ----------
+    signal_labels : list of str
+        Label names for each of the signal elements in the signal.
+    trace_labels : list of str, optional
+        Label names for each of the traces in the signal (if multi-trace).
+
+    Examples
+    --------
+    >>> sys = ct.rss(
+    ...     states=['p1', 'p2', 'p3'], inputs=['u1', 'u2'], outputs=['y'])
+    >>> resp = ct.step_response(sys)
+    >>> resp.states['p1', 'u1']  # Step response from u1 to p1
+    NamedSignal(...)
+
     """
     def __new__(cls, input_array, signal_labels=None, trace_labels=None):
         # See https://numpy.org/doc/stable/user/basics.subclassing.html
@@ -314,7 +332,7 @@ def _repr_latex_(self):
     def _repr_html_(self):
         # Defaults to using __repr__; override in subclasses
         return None
-    
+
     def _repr_markdown_(self):
         return self._repr_html_()
 

diff --git a/control/tests/phaseplot_test.py b/control/tests/phaseplot_test.py
@@ -167,7 +167,7 @@ def invpend_ode(t, x, m=0, l=0, b=0, g=0):
         ct.phase_plane_plot(
             invpend_ode, [-5, 5, 2, 2], params={'stuff': (1, 1, 0.2, 1)},
                             plot_streamlines=True)
-        
+
     with pytest.raises(ValueError, match="gridtype must be 'meshgrid' when using streamplot"):
         ct.phase_plane_plot(ct.rss(2, 1, 1), plot_streamlines=False,
                             plot_streamplot=True, gridtype='boxgrid')
@@ -190,7 +190,7 @@ def invpend_ode(t, x, m=0, l=0, b=0, g=0):
             sys, [-12, 12, -10, 10], 15, gridspec=[2, 9],
             plot_streamlines=True, plot_separatrices=False,
             suppress_warnings=True)
-        
+
 @pytest.mark.usefixtures('mplcleanup')
 def test_phase_plot_zorder():
     # some of these tests are a bit akward since the streamlines and separatrices
@@ -211,7 +211,7 @@ def get_zorders(cplt):
         assert cplt.lines[3] == None or isinstance(cplt.lines[3], mpl.streamplot.StreamplotSet)
         streamplot = max(cplt.lines[3].lines.get_zorder(), cplt.lines[3].arrows.get_zorder()) if cplt.lines[3] else None
         return streamlines, quiver, streamplot, separatrices, equilpoints
-    
+
     def assert_orders(streamlines, quiver, streamplot, separatrices, equilpoints):
         print(streamlines, quiver, streamplot, separatrices, equilpoints)
         if streamlines is not None:
@@ -261,8 +261,6 @@ def sys(t, x):
     # make sure changing the norm at least doesn't throw an error
     ct.phase_plane_plot(sys, plot_streamplot=dict(vary_color=True, norm=mpl.colors.LogNorm()))
 
-
-
 
 @pytest.mark.usefixtures('mplcleanup')
 def test_basic_phase_plots(savefigs=False):

diff --git a/control/timeresp.py b/control/timeresp.py
@@ -551,10 +551,10 @@ def outputs(self):
     def states(self):
         """Time response state vector.
 
-        Time evolution of the state vector, indexed indexed by either the
-        state and time (if only a single trace is given) or the state, trace,
-        and time (for multiple traces).  See `TimeResponseData.squeeze`
-        for a description of how this can be modified using the `squeeze`
+        Time evolution of the state vector, indexed by either the state and
+        time (if only a single trace is given) or the state, trace, and
+        time (for multiple traces).  See `TimeResponseData.squeeze` for a
+        description of how this can be modified using the `squeeze`
         keyword.
 
         Input and output signal names can be used to index the data in
@@ -616,9 +616,9 @@ def inputs(self):
     def _legacy_states(self):
         """Time response state vector (legacy version).
 
-        Time evolution of the state vector, indexed indexed by either the
-        state and time (if only a single trace is given) or the state,
-        trace, and time (for multiple traces).
+        Time evolution of the state vector, indexed by either the state and
+        time (if only a single trace is given) or the state, trace, and
+        time (for multiple traces).
 
         The `legacy_states` property is not affected by the `squeeze` keyword
         and hence it will always have these dimensions.

diff --git a/doc/Makefile b/doc/Makefile
@@ -1,7 +1,7 @@
 # Makefile for python-control Sphinx documentation
 # RMM, 15 Jan 2025
 
-FIGS = figures/classes.pdf
+FIGS = figures/classes.svg
 RST_FIGS = figures/flatsys-steering-compare.png				\
   figures/iosys-predprey-open.png					\
   figures/timeplot-servomech-combined.png				\

diff --git a/doc/_templates/extended-class-template.rst b/doc/_templates/extended-class-template.rst
@@ -0,0 +1,9 @@
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+   :no-members:
+   :show-inheritance:
+   :no-inherited-members:
+   :no-special-members:
diff --git a/doc/classes.rst b/doc/classes.rst
@@ -14,10 +14,10 @@ systems (both linear time-invariant and nonlinear).  They are usually
 created from factory functions such as :func:`tf` and :func:`ss`, so the
 user should normally not need to instantiate these directly.
 
-The following figure illustrates the relationship between the classes.
+The following figure illustrates the relationship between the classes:
 
-.. image:: figures/classes.pdf
-   :width: 800
+.. figure:: figures/classes.svg
+   :width: 640
    :align: center
 
 .. autosummary::
@@ -34,6 +34,17 @@ The following figure illustrates the relationship between the classes.
    InterconnectedSystem
    LinearICSystem
 
+The time response of an input/output system is represented using a
+special :class:`NamedSignal` class that allows the individual signal
+elements to be access using signal names in place of integer offsets:
+
+.. autosummary::
+   :toctree: generated/
+   :template: extended-class-template.rst
+   :nosignatures:
+
+   NamedSignal
+
 
 Response and Plotting Classes
 =============================
@@ -95,5 +106,5 @@ operations:
    optimal.OptimalEstimationProblem
    optimal.OptimalEstimationResult
 
-More informaton on the functions used to create these classes can be
+More information on the functions used to create these classes can be
 found in the :ref:`nonlinear-systems` chapter.
diff --git a/doc/figures/Makefile b/doc/figures/Makefile
@@ -2,7 +2,7 @@
 # RMM, 26 Dec 2024
 
 # List of figures that need to be created (first figure generated is OK)
-FIGS = classes.pdf
+FIGS = classes.svg
 
 # Location of the control package
 SRCDIR = ../..
@@ -12,5 +12,5 @@ all: $(FIGS)
 clean:
 	/bin/rm -f $(FIGS)
 
-classes.pdf: classes.fig
-	fig2dev -Lpdf $< $@
+classes.svg: classes.fig
+	fig2dev -Lsvg $< $@
diff --git a/doc/figures/classes.fig b/doc/figures/classes.fig
@@ -1,4 +1,5 @@
-#FIG 3.2  Produced by xfig version 3.2.8b
+#FIG 3.2  Produced by xfig version 3.2.9
+#encoding: UTF-8
 Landscape
 Center
 Inches
@@ -37,12 +38,13 @@ Single
 2 1 0 2 1 7 50 -1 -1 0.000 0 0 7 0 1 2
 	1 0 1.00 60.00 90.00
 	 6525 1950 7050 2550
-4 1 1 50 -1 16 12 0.0000 4 210 2115 4050 3675 InterconnectedSystem\001
-4 1 1 50 -1 16 12 0.0000 4 165 1605 7950 3675 TransferFunction\001
-4 1 1 50 -1 0 12 0.0000 4 150 345 7050 2775 LTI\001
-4 1 1 50 -1 16 12 0.0000 4 210 1830 5175 2775 NonlinearIOSystem\001
-4 1 1 50 -1 16 12 0.0000 4 210 1095 6150 3675 StateSpace\001
-4 1 1 50 -1 16 12 0.0000 4 210 1500 5175 4575 LinearICSystem\001
-4 2 1 50 -1 16 12 0.0000 4 210 1035 3375 3225 FlatSystem\001
-4 0 1 50 -1 16 12 0.0000 4 165 420 8400 3225 FRD\001
-4 1 1 50 -1 16 12 0.0000 4 210 1770 6300 1875 InputOutputSystem\001
+4 1 1 50 -1 16 12 0.0000 4 191 1958 4050 3675 InterconnectedSystem\001
+4 1 1 50 -1 16 12 0.0000 4 151 1496 7950 3675 TransferFunction\001
+4 1 1 50 -1 0 12 0.0000 4 133 305 7050 2775 LTI\001
+4 1 1 50 -1 16 12 0.0000 4 191 1705 5175 2775 NonlinearIOSystem\001
+4 1 1 50 -1 16 12 0.0000 4 190 1016 6150 3675 StateSpace\001
+4 1 1 50 -1 16 12 0.0000 4 191 1394 5175 4575 LinearICSystem\001
+4 2 1 50 -1 16 12 0.0000 4 191 970 3375 3225 FlatSystem\001
+4 0 1 50 -1 16 12 0.0000 4 145 384 8400 3225 FRD\001
+4 1 1 50 -1 16 12 0.0000 4 191 1681 6300 1875 InputOutputSystem\001
+4 1 7 50 -1 16 12 0.0000 4 22 21 5175 4800 .\001
diff --git a/doc/figures/classes.pdf b/doc/figures/classes.pdf
diff --git a/doc/figures/classes.svg b/doc/figures/classes.svg
diff --git a/doc/linear.rst b/doc/linear.rst
@@ -531,6 +531,8 @@ equilibrium values (thereby keeping the input/output gain unchanged at
 zero frequency ["DC"]).
 
 
+.. _displaying-lti-system-information:
+
 Displaying LTI System Information
 =================================
 

diff --git a/doc/phaseplot.rst b/doc/phaseplot.rst
@@ -43,7 +43,7 @@ on a grid, equilibrium points and separatrices if they exist. A variety
 of options are available to modify the information that is plotted,
 including plotting a grid of vectors instead of streamlines, plotting
 streamlines from arbitrary starting points and turning on and off
-various features of the plot. 
+various features of the plot.
 
 To illustrate some of these possibilities, consider a phase plane plot for
 an inverted pendulum system, which is created using a mesh grid:

diff --git a/doc/releases.rst b/doc/releases.rst
@@ -27,6 +27,7 @@ the ability to index systems and signal using signal labels.
 .. toctree::
    :maxdepth: 1
 
+   releases/0.10.2-notes
    releases/0.10.1-notes
    releases/0.10.0-notes
 

diff --git a/doc/releases/0.10.1-notes.rst b/doc/releases/0.10.1-notes.rst
@@ -2,8 +2,8 @@
 
 .. _version-0.10.1:
 
-Version 0.10.1 Release Notes (current)
---------------------------------------
+Version 0.10.1 Release Notes
+----------------------------
 
 * Released: 17 Aug 2024
 * `GitHub release page