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Fix numpydoc for place_varga #1007

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May 23, 2024
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Fix numpydoc for place_varga #1007

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33 changes: 15 additions & 18 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down