From 53e4c4def691b7a08b73309ecbeb747b965b7212 Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Sat, 8 Mar 2025 08:06:10 -0800
Subject: [PATCH 1/7] first pass at 0.10.2 release notes

---
 doc/linear.rst                |   2 +
 doc/releases.rst              |   1 +
 doc/releases/0.10.2-notes.rst | 218 ++++++++++++++++++++++++++++++++++
 doc/test_sphinxdocs.py        |   1 -
 4 files changed, 221 insertions(+), 1 deletion(-)
 create mode 100644 doc/releases/0.10.2-notes.rst

diff --git a/doc/linear.rst b/doc/linear.rst
index a9960feca..200260303 100644
--- 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/releases.rst b/doc/releases.rst
index 88a76775a..7bc5c0f46 100644
--- 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/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
new file mode 100644
index 000000000..64f939dff
--- /dev/null
+++ b/doc/releases/0.10.2-notes.rst
@@ -0,0 +1,218 @@
+.. currentmodule:: control
+
+.. _version-0.10.2:
+
+Version 0.10.2 Release Notes
+----------------------------
+
+* Released: date of release
+* `GitHub release page
+  <https://github.com/python-control/python-control/releases/tag/0.10.2>`_
+
+This release contains numerous bug fixes and improvements, including
+substantial updates to the documentation, including refactoring of the
+online manual into a User Guide and a Reference Manual, as well as
+more consistent and complete docstrings. In addition, signals and
+systems can now be referenced using signal labels in addition to
+offsets, and phase plane plots make use of the matplotlib
+`~matplotlib.pyplot.streamplot` function.  Numerous other changes have
+been made to improve consistent of keyword arguments and function
+names, with legacy aliases available.
+
+This version of `python-control` requires Python 3.10 or higher, NumPy
+1.23 or higher (2.x recommended), and SciPy 1.8 or higher.
+
+
+New classes, functions, and methods
+...................................
+
+The following new classes, functions, and methods have been added in
+this release:
+
+* `find_operating_point`: this function replaces (with a legacy alias)
+  the `find_eqpt` function and now returns an `OperatingPoint` object
+  containing the information about the operating point.
+
+* `combine_tf` and `split_tf`: these two new functions allow you to
+  create an MIMO transfer function from SISO transfer functions and
+  vice versa.
+
+* `create_statefbk_iosystem` now allows the creation of state feedback
+  controllers using a "reference gain" pattern (:math:`u = k_\text{f}\,
+  r - K x`) in addition to the default "trajectory generation" pattern
+  (:math:`u = u_\text{d} - K(x - x_\text{d})`).
+
+* `model_reduction`: has added functionality to allow specific states,
+  inputs, or outputs that are eliminated can be specified by either
+  listing the states, inputs, or outputs to be eliminated or those to
+  be kept.
+
+* `place_acker`: renamed version of `acker` (which is still accessible
+  via an alias).
+
+
+Bug fixes
+.........
+
+The following bugs have been fixed in this release:
+
+* `phase_plane_plot`: fixed a bug in which the return value was
+  returning a sublist of lines rather than just a list of lines in
+  `cplt.lines`.
+
+* Processing of the timebase parameter (`dt`) for I/O systems is now
+  handled uniformly across all I/O system factor functions.  This
+  affected the `zpk` function, which was defaulting to a discrete time
+  system to have timebase None instead of 0.
+
+* Multiplying (*), adding (+), or subtracting (-) a constant from any
+  (MIMO) LTI object now acts element-wise (same as ndarray's). This
+  fixes a bug where multiplying a MIMO LTI system by a constant was
+  multiplying by a matrix filled with the constant rather than a
+  diagonal matrix (scaled identity).
+
+* Fixed a bug where specifying an FRD system with fewer than 4
+  frequency points was generating an error because the default
+  settings try to set up a smooth (interpolating) response and the
+  default degree of the fit was 3.
+
+* Fixed some bugs where computing poles and zeros of transfer
+  functions could generate spurious error messages about unsafe
+  casting of complex numbers to real numbers.
+
+* `TimeResponseData.to_pandas`: multi-trace data (e.g., the output
+  from a MIMO step response) was not being processed correctly.  A new
+  column 'trace' is now generated for multi-trace responses.
+
+* Fixed a bug where where some arguments to `nyquist_plot` were not
+  being processed correctly and generated errors about unrecognized
+  keywords.
+
+* Updated `ctrb` and `obsv` to handle 1D `B` or `C` matrix correctly.
+
+* `bode_plot`: Fixed missing plot title when `display_margin` keyword
+  was used.
+
+* `singular_values_plot`: color cycling was not working correctly when
+  a list of systems or responses was provided.
+
+
+Improvements
+............
+
+The following additional improvements and changes in functionality
+were implemented in this release:
+
+* User documentation is now divided into a User Guide that provides a
+  description of the main functionality of the python-control package,
+  along with a Reference Manual describing classes, functions, and
+  parameter in more detail.  
+
+* Signal responses and I/O subsystem specifications can now use signal
+  names in addition to indices to get the desired inputs, outputs, and
+  states (e.g., `response.outputs['y0', 'y1']`).  This is implemented
+  via a new `NamedSignal` object, which generalizes `numpy.ndarray`.
+  
+* `find_operating_point` (legacy `find_eqpt`): accepts new parameters
+  `root_method` and `root_keyword` to set the root finding algorithm
+  that is used.
+
+* `root_locus_map` now correctly handles the degenerate case of being
+  passed a single gain.
+
+* The `PoleZeroData` object now takes a `sort_loci` parameter when it
+  is created, with a default value of True.  This is useful if you
+  create a `PoleZeroData` object by hand (e.g., for producing stability
+  diagrams).
+
+* Factory functions for I/O system creation are now consistent in
+  terms of copying signal/system names, overriding system/signal
+  names, and converting between classes.
+
+* The `tf` factory function to allow a 2D list of SISO transfer
+  functions to be given as a means of creating a MIMO transfer
+  function (use the new `combine_tf` function).
+
+* The `nlsys` factor function can now create a `NonlinearIOSystem`
+  representation of a `StateSpace` system (passed as the first
+  argument to `nlsys`).
+
+* LTI systems now have member functions for computing the various time
+  responses and generating frequency domain plots.  See `LTI.to_ss`,
+  `LTI.to_tf`, `LTI.bode_plot`, `LTI.nyquist_plot`, `LTI.nichols_plot`
+  and `LTI.forced_response`, `LTI.impulse_response`,
+  `LTI.initial_response`, `LTI.step_response`.
+
+* String representations of I/O systems (accessed via `repr`, `print`,
+  and `str`) have been updated to create a more consistent form and
+  provide more useful information.  See
+  :ref:`displaying-lti-system-information` for more information.
+
+* Binary operations between MIMO and SISO functions are now supported,
+  with the SISO system being converted to a MIMO system as if it were
+  a scalar.
+
+* `nyquist_response`: generates an error if you force the system to
+  evaluate the dynamics at a pole.
+
+* `phase_crossover_frequencies`: turned off spurious warning messages.
+
+* `ss2tf`: added new `method=scipy` capability, allowing `ss2tf` to
+  work on MIMO systems even if Slycot is not present.
+
+* `flatsys.solve_flat_optimal` (legacy `flatsys.solve_flat_ocp`):
+  allows scalar time vector.
+
+* Improved checking of matrix shapes and better error messages in
+  state space factory functions and other operations were matrices are
+  passed as arguments.
+
+* `FrequencyResponseData`: use `~FrequencyResponseData.complex` to
+  access the (squeeze processed) complex frequency response (instead
+  of the legacy `response` propery) and
+  `~FrequencyResponseData.frdata` to access the 3D frequency response
+  data array (instead of the legacy `fresp` attribute).
+
+* Time response and optimization function keywords have been
+  regularized to allow consistent use of keywords across related
+  functions:
+
+  - Parameters specifying the inputs, outputs, and states are referred
+    to as `inputs`, `outputs`, and `states` consistently throughout the
+    functions.
+
+  - Variables associated with inputs, outputs, states and time use
+    those words plus an appropriate modifier: `initial_state`,
+    `final_output`, `input_indices`, etc.
+    
+  - Aliases are used both to maintain backward compatibility and to
+    allow shorthand descriptions: e.g., `U`, `Y`, `X0`. Short form
+    aliases are documented in docstrings by listing the parameter as
+    ``long_form (or sf) : type``.
+
+  - Existing legacy keywords are allowed and generate a
+    `PendingDeprecationWarning`.  Specifying a parameter value in two
+    different ways (e.g., via long form and an alias) generates a
+    `TypeError`.
+
+* `phase_plane_plot`: makes use of the matplotlib
+  `~matplotlib.pyplot.streamplot` function to provide better default
+  phase plane diagrams.
+
+
+Deprecations
+............
+
+The following functions have been newly deprecated in this release and
+generate a warning message when used:
+
+* `FrequencyResponseData.response`: use
+  `FrequencyResponseData.complex` to return the complex value of the
+  frequency response.
+  
+* `FrequencyResponseData.fresp`: use `FrequencyResponseData.frdata
+  <FrequencyResponseData>` to access the raw 3D frequency response
+  data array.
+
+The listed items are slated to be removed in future releases (usually
+the next major or minor version update).
diff --git a/doc/test_sphinxdocs.py b/doc/test_sphinxdocs.py
index 1a49f357c..80024c23d 100644
--- a/doc/test_sphinxdocs.py
+++ b/doc/test_sphinxdocs.py
@@ -48,7 +48,6 @@
 
 # Functons that we can skip
 object_skiplist = [
-    control.NamedSignal,                # np.ndarray members cause errors
     control.FrequencyResponseList,      # Use FrequencyResponseData
     control.TimeResponseList,           # Use TimeResponseData
     control.common_timebase,            # mainly internal use

From bba4f580deec51f36b71fe1efb86933b19d60730 Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Sat, 8 Mar 2025 09:34:49 -0800
Subject: [PATCH 2/7] add NamedSignal documentation + tweak control classes
 figure

---
 control/iosys.py                           |  18 +++++++++++++++++
 doc/_templates/extended-class-template.rst |   9 +++++++++
 doc/classes.rst                            |  17 +++++++++++++---
 doc/figures/classes.fig                    |  22 +++++++++++----------
 doc/figures/classes.pdf                    | Bin 6858 -> 7079 bytes
 5 files changed, 53 insertions(+), 13 deletions(-)
 create mode 100644 doc/_templates/extended-class-template.rst

diff --git a/control/iosys.py b/control/iosys.py
index 29f5bfefb..c3c4cf9ec 100644
--- 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
diff --git a/doc/_templates/extended-class-template.rst b/doc/_templates/extended-class-template.rst
new file mode 100644
index 000000000..6e1e4ccd7
--- /dev/null
+++ 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
index 0ab508a3a..8b5ef071c 100644
--- 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.pdf
+   :width: 480
    :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 palce of integer offsets:
+
+.. autosummary::
+   :toctree: generated/
+   :template: extended-class-template.rst
+   :nosignatures:
+
+   NamedSignal
+
 
 Response and Plotting Classes
 =============================
diff --git a/doc/figures/classes.fig b/doc/figures/classes.fig
index 4e63b8bff..17c112cc7 100644
--- 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
index 2c51b0193526ed7ea4e25451efff85e51fec8a72..94c5005f18b1ee5cca6f939a7a0bf84997027824 100644
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From 245c52242fdb113777f78783070db04013091dc2 Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Sat, 8 Mar 2025 09:40:26 -0800
Subject: [PATCH 3/7] fix typos pointed out by @roryyorke

---
 doc/releases/0.10.2-notes.rst | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
index 64f939dff..35327c90f 100644
--- a/doc/releases/0.10.2-notes.rst
+++ b/doc/releases/0.10.2-notes.rst
@@ -16,7 +16,7 @@ more consistent and complete docstrings. In addition, signals and
 systems can now be referenced using signal labels in addition to
 offsets, and phase plane plots make use of the matplotlib
 `~matplotlib.pyplot.streamplot` function.  Numerous other changes have
-been made to improve consistent of keyword arguments and function
+been made to improve consistency of keyword arguments and function
 names, with legacy aliases available.
 
 This version of `python-control` requires Python 3.10 or higher, NumPy
@@ -42,10 +42,8 @@ this release:
   r - K x`) in addition to the default "trajectory generation" pattern
   (:math:`u = u_\text{d} - K(x - x_\text{d})`).
 
-* `model_reduction`: has added functionality to allow specific states,
-  inputs, or outputs that are eliminated can be specified by either
-  listing the states, inputs, or outputs to be eliminated or those to
-  be kept.
+* `model_reduction`: allow specific states, inputs, or outputs to be
+  either eliminated or retained.
 
 * `place_acker`: renamed version of `acker` (which is still accessible
   via an alias).
@@ -164,12 +162,12 @@ were implemented in this release:
   allows scalar time vector.
 
 * Improved checking of matrix shapes and better error messages in
-  state space factory functions and other operations were matrices are
-  passed as arguments.
+  state space factory functions and other operations where matrices
+  are passed as arguments.
 
 * `FrequencyResponseData`: use `~FrequencyResponseData.complex` to
   access the (squeeze processed) complex frequency response (instead
-  of the legacy `response` propery) and
+  of the legacy `response` property) and
   `~FrequencyResponseData.frdata` to access the 3D frequency response
   data array (instead of the legacy `fresp` attribute).
 

From 1e00f495007f172d8503bd156c681e413896aed5 Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Fri, 14 Mar 2025 21:31:09 -0700
Subject: [PATCH 4/7] address @slivingston review + other small fixes, cleanup

---
 control/iosys.py                |   2 +-
 control/tests/phaseplot_test.py |   8 +-
 control/timeresp.py             |  14 +--
 doc/Makefile                    |   2 +-
 doc/classes.rst                 |   8 +-
 doc/figures/Makefile            |   6 +-
 doc/figures/classes.pdf         | Bin 7079 -> 0 bytes
 doc/figures/classes.svg         | 151 ++++++++++++++++++++++++++++++++
 doc/phaseplot.rst               |   2 +-
 doc/releases/0.10.1-notes.rst   |   4 +-
 doc/releases/0.10.2-notes.rst   |  23 ++---
 doc/requirements.txt            |   2 +-
 12 files changed, 186 insertions(+), 36 deletions(-)
 delete mode 100644 doc/figures/classes.pdf
 create mode 100644 doc/figures/classes.svg

diff --git a/control/iosys.py b/control/iosys.py
index c3c4cf9ec..42cf4094d 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -332,7 +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
index fc4edcbea..ac5249948 100644
--- 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
index bd549589a..3c49d213e 100644
--- 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
index 493fd7da5..4029dd70f 100644
--- 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/classes.rst b/doc/classes.rst
index 8b5ef071c..000761724 100644
--- a/doc/classes.rst
+++ b/doc/classes.rst
@@ -16,8 +16,8 @@ user should normally not need to instantiate these directly.
 
 The following figure illustrates the relationship between the classes:
 
-.. figure:: figures/classes.pdf
-   :width: 480
+.. figure:: figures/classes.svg
+   :width: 640
    :align: center
 
 .. autosummary::
@@ -36,7 +36,7 @@ The following figure illustrates the relationship between the classes:
 
 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 palce of integer offsets:
+elements to be access using signal names in place of integer offsets:
 
 .. autosummary::
    :toctree: generated/
@@ -106,5 +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
index 1ca54b372..26bdf22c2 100644
--- 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.pdf b/doc/figures/classes.pdf
deleted file mode 100644
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diff --git a/doc/phaseplot.rst b/doc/phaseplot.rst
index d2a3e6353..8c014415f 100644
--- 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/0.10.1-notes.rst b/doc/releases/0.10.1-notes.rst
index dd0939021..8b99100f2 100644
--- 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
diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
index 35327c90f..da405998d 100644
--- a/doc/releases/0.10.2-notes.rst
+++ b/doc/releases/0.10.2-notes.rst
@@ -2,8 +2,8 @@
 
 .. _version-0.10.2:
 
-Version 0.10.2 Release Notes
-----------------------------
+Version 0.10.2 Release Notes (current)
+--------------------------------------
 
 * Released: date of release
 * `GitHub release page
@@ -59,7 +59,7 @@ The following bugs have been fixed in this release:
   `cplt.lines`.
 
 * Processing of the timebase parameter (`dt`) for I/O systems is now
-  handled uniformly across all I/O system factor functions.  This
+  handled uniformly across all I/O system factory functions.  This
   affected the `zpk` function, which was defaulting to a discrete time
   system to have timebase None instead of 0.
 
@@ -104,15 +104,15 @@ were implemented in this release:
 * User documentation is now divided into a User Guide that provides a
   description of the main functionality of the python-control package,
   along with a Reference Manual describing classes, functions, and
-  parameter in more detail.  
+  parameters in more detail.
 
 * Signal responses and I/O subsystem specifications can now use signal
   names in addition to indices to get the desired inputs, outputs, and
   states (e.g., `response.outputs['y0', 'y1']`).  This is implemented
   via a new `NamedSignal` object, which generalizes `numpy.ndarray`.
-  
+
 * `find_operating_point` (legacy `find_eqpt`): accepts new parameters
-  `root_method` and `root_keyword` to set the root finding algorithm
+  `root_method` and `root_kwargs` to set the root finding algorithm
   that is used.
 
 * `root_locus_map` now correctly handles the degenerate case of being
@@ -131,7 +131,7 @@ were implemented in this release:
   functions to be given as a means of creating a MIMO transfer
   function (use the new `combine_tf` function).
 
-* The `nlsys` factor function can now create a `NonlinearIOSystem`
+* The `nlsys` factory function can now create a `NonlinearIOSystem`
   representation of a `StateSpace` system (passed as the first
   argument to `nlsys`).
 
@@ -168,8 +168,9 @@ were implemented in this release:
 * `FrequencyResponseData`: use `~FrequencyResponseData.complex` to
   access the (squeeze processed) complex frequency response (instead
   of the legacy `response` property) and
-  `~FrequencyResponseData.frdata` to access the 3D frequency response
-  data array (instead of the legacy `fresp` attribute).
+  `~FrequencyResponseData.frdata <FrequencyResponseData>` to access
+  the 3D frequency response data array (instead of the legacy `fresp`
+  attribute).
 
 * Time response and optimization function keywords have been
   regularized to allow consistent use of keywords across related
@@ -182,7 +183,7 @@ were implemented in this release:
   - Variables associated with inputs, outputs, states and time use
     those words plus an appropriate modifier: `initial_state`,
     `final_output`, `input_indices`, etc.
-    
+
   - Aliases are used both to maintain backward compatibility and to
     allow shorthand descriptions: e.g., `U`, `Y`, `X0`. Short form
     aliases are documented in docstrings by listing the parameter as
@@ -207,7 +208,7 @@ generate a warning message when used:
 * `FrequencyResponseData.response`: use
   `FrequencyResponseData.complex` to return the complex value of the
   frequency response.
-  
+
 * `FrequencyResponseData.fresp`: use `FrequencyResponseData.frdata
   <FrequencyResponseData>` to access the raw 3D frequency response
   data array.
diff --git a/doc/requirements.txt b/doc/requirements.txt
index 5fdf9113d..ded0c7087 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -7,4 +7,4 @@ sphinx-copybutton
 numpydoc
 ipykernel
 nbsphinx
-docutils==0.16 # pin until sphinx_rtd_theme is compatible with 0.17 or later
+docutils

From bd129bbf6d406ea01b3e4e8a2a46070692b3d4be Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Sat, 21 Jun 2025 15:38:35 -0400
Subject: [PATCH 5/7] added notes on latest changes for this release

---
 doc/releases/0.10.2-notes.rst | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
index da405998d..1ef036bc4 100644
--- a/doc/releases/0.10.2-notes.rst
+++ b/doc/releases/0.10.2-notes.rst
@@ -94,6 +94,12 @@ The following bugs have been fixed in this release:
 * `singular_values_plot`: color cycling was not working correctly when
   a list of systems or responses was provided.
 
+* `nyquist_plot`: The `lines` parameter of the `ControlPlot` object
+  now matches the documentation.  A 2D array is returned with the
+  first index corresponding to the response (system) index and the
+  second index corresponding to the segment type (primary, mirror x
+  unscaled, scaled).
+
 
 Improvements
 ............
@@ -198,6 +204,16 @@ were implemented in this release:
   `~matplotlib.pyplot.streamplot` function to provide better default
   phase plane diagrams.
 
+* `root_locus_plot`: added by the ability to recompute the root locus
+  when zooming in on portions of the root locus diagram.
+
+* `nyquist_plot`: updated the rescaling algorithm to use a more
+  gradual change in the magnitude of the Nyquist curve.  The
+  `blend_fraction` parameter can be used to start the rescaling prior
+  to reaching `max_curve_magnitude`, giving less confusing plots. Some
+  default parameter values have been adjusted to improve Nyquist
+  plots.
+
 
 Deprecations
 ............

From df8856678a73fcfce3c47412b7b3387e060134eb Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Wed, 25 Jun 2025 10:03:11 -0400
Subject: [PATCH 6/7] add disk_margins to release notes

---
 doc/releases/0.10.2-notes.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
index 1ef036bc4..3d5fecf2c 100644
--- a/doc/releases/0.10.2-notes.rst
+++ b/doc/releases/0.10.2-notes.rst
@@ -42,6 +42,9 @@ this release:
   r - K x`) in addition to the default "trajectory generation" pattern
   (:math:`u = u_\text{d} - K(x - x_\text{d})`).
 
+* `disk_margins`: compute disk-based stability margins for SISO and
+  MIMO systems.
+
 * `model_reduction`: allow specific states, inputs, or outputs to be
   either eliminated or retained.
 

From b3d8ce989b2a7d87fb460625e2f935140107fc98 Mon Sep 17 00:00:00 2001
From: Richard Murray <murray@cds.caltech.edu>
Date: Fri, 4 Jul 2025 12:14:38 -0400
Subject: [PATCH 7/7] add bug fix associated with gh-1161

---
 doc/releases/0.10.2-notes.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
index 3d5fecf2c..3e13239aa 100644
--- a/doc/releases/0.10.2-notes.rst
+++ b/doc/releases/0.10.2-notes.rst
@@ -103,6 +103,9 @@ The following bugs have been fixed in this release:
   second index corresponding to the segment type (primary, mirror x
   unscaled, scaled).
 
+* Fix some internal bugs that cropped up when using NumPy 2.3.1 but
+  were latent prior to that.
+
 
 Improvements
 ............