Merge branch 'python-control:main' into nyquist_improvements

wueestry · web-flow · commit ee68801a9e11 · 2024-05-24T14:41:58.000+02:00
diff --git a/control/rlocus.py b/control/rlocus.py
@@ -160,7 +160,8 @@ def root_locus_plot(
     from .pzmap import pole_zero_plot
 
     # Legacy parameters
-    gains = config._process_legacy_keyword(kwargs, 'kvect', 'gains', gains)
+    for oldkey in ['kvect', 'k']:
+        gains = config._process_legacy_keyword(kwargs, oldkey, 'gains', gains)
 
     # Set default parameters
     grid = config._get_param('rlocus', 'grid', grid, _rlocus_defaults)
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -150,22 +150,18 @@ def place_varga(A, B, p, dtime=False, alpha=None):
     """Place closed loop eigenvalues.
     K = place_varga(A, B, p, dtime=False, alpha=None)
 
-    Required Parameters
+    Parameters
     ----------
     A : 2D array_like
         Dynamics matrix
     B : 2D array_like
         Input matrix
     p : 1D array_like
         Desired eigenvalue locations
-
-    Optional Parameters
-    ---------------
-    dtime : bool
+    dtime : bool, optional
         False for continuous time pole placement or True for discrete time.
         The default is dtime=False.
-
-    alpha : double scalar
+    alpha : float, optional
         If `dtime` is false then place_varga will leave the eigenvalues with
         real part less than alpha untouched.  If `dtime` is true then
         place_varga will leave eigenvalues with modulus less than alpha
@@ -179,26 +175,27 @@ def place_varga(A, B, p, dtime=False, alpha=None):
     K : 2D array (or matrix)
         Gain such that A - B K has eigenvalues given in p.
 
-    Algorithm
-    ---------
+    See Also
+    --------
+    place, acker
+
+    Notes
+    -----
     This function is a wrapper for the slycot function sb01bd, which
-    implements the pole placement algorithm of Varga [1]. In contrast to the
+    implements the pole placement algorithm of Varga [1]_. In contrast to the
     algorithm used by place(), the Varga algorithm can place multiple poles at
     the same location. The placement, however, may not be as robust.
 
-    [1] Varga A. "A Schur method for pole assignment."  IEEE Trans. Automatic
-        Control, Vol. AC-26, pp. 517-519, 1981.
+    References
+    ----------
+    .. [1] Varga A. "A Schur method for pole assignment."  IEEE Trans. Automatic
+       Control, Vol. AC-26, pp. 517-519, 1981.
 
     Examples
     --------
     >>> A = [[-1, -1], [0, 1]]
     >>> B = [[0], [1]]
-    >>> K = place_varga(A, B, [-2, -5])
-
-    See Also
-    --------
-    place, acker
-
+    >>> K = ct.place_varga(A, B, [-2, -5])
     """
 
     # Make sure that SLICOT is installed
@@ -269,6 +266,10 @@ def acker(A, B, poles):
     -------
     K : 2D array (or matrix)
         Gains such that A - B K has given eigenvalues
+    
+    See Also
+    --------
+    place, place_varga
 
     """
     # Convert the inputs to matrices
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
@@ -181,10 +181,11 @@ def test_root_locus_plots(sys, grid, xlim, ylim, interactive):
 
 
 # Test deprecated keywords
-def test_root_locus_legacy():
+@pytest.mark.parametrize("keyword", ["kvect", "k"])
+def test_root_locus_legacy(keyword):
     sys = ct.rss(2, 1, 1)
-    with pytest.warns(DeprecationWarning, match="'kvect' is deprecated"):
-        ct.root_locus_plot(sys, kvect=[0, 1, 2])
+    with pytest.warns(DeprecationWarning, match=f"'{keyword}' is deprecated"):
+        ct.root_locus_plot(sys, **{keyword: [0, 1, 2]})
 
 
 # Generate plots used in documentation
