python-control · murrayrm · Aug 11, 2024 · Jul 7, 2024 · Jul 7, 2024 · Jul 9, 2024
diff --git a/.gitignore b/.gitignore
@@ -42,3 +42,6 @@ venv/
 ENV/
 env.bak/
 venv.bak/
+
+# Files for MacOS
+.DS_Store
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -147,6 +147,8 @@ def bode_plot(
         figure with the correct number and shape of axes, a new figure is
         created.  The shape of the array must match the shape of the
         plotted data.
+    freq_label: str, optional
+        Frequency label (defaults to "rad/sec" or "Hertz")
     grid : bool, optional
         If True, plot grid lines on gain and phase plots.  Default is set by
         `config.defaults['freqplot.grid']`.
@@ -168,6 +170,8 @@ def bode_plot(
     legend_loc : int or str, optional
         Include a legend in the given location. Default is 'center right',
         with no legend for a single response.  Use False to suppress legend.
+    magnitude_label : str, optional
+        Label to use for magnitude axis.  Defaults to "Magnitude".
     margins_method : str, optional
         Method to use in computing margins (see :func:`stability_margins`).
     omega_limits : array_like of two values
@@ -179,6 +183,8 @@ def bode_plot(
         Number of samples to use for the frequeny range.  Defaults to
         config.defaults['freqplot.number_of_samples'].  Ignored if data is
         not a list of systems.
+    phase_label : str, optional
+        Label to use for phase axis.  Defaults to "Phase [rad]".
     plot : bool, optional
         (legacy) If given, `bode_plot` returns the legacy return values
         of magnitude, phase, and frequency.  If False, just return the

diff --git a/control/phaseplot.py b/control/phaseplot.py
@@ -309,7 +309,7 @@ def vectorfield(
     sys._update_params(params)
     for i, x in enumerate(points):
         vfdata[i, :2] = x
-        vfdata[i, 2:] = sys._rhs(0, x, 0)
+        vfdata[i, 2:] = sys._rhs(0, x, np.zeros(sys.ninputs))
 
     with plt.rc_context(rcParams):
         out = ax.quiver(

diff --git a/doc/examples.rst b/doc/examples.rst
@@ -7,7 +7,7 @@ Examples
 
 The source code for the examples below are available in the `examples/`
 subdirectory of the source code distribution. They can also be accessed online
-via the [python-control GitHub repository](https://github.com/python-control/python-control/tree/master/examples).
+via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.
-via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.
+via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/main/examples>`_.
-via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.
+via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/main/examples>`_.
 
 
 Python scripts
@@ -62,3 +62,19 @@ online sources.
    simulating_discrete_nonlinear
    steering
    stochresp
+
+Google Colab Notebooks
+======================
+
+A collection of Jupyter notebooks are available on `Google Colab
+<https://colab.research.google.com>`_, where they can be executed
+through a web browser:
+
+* `Caltech CDS 110 Google Colab notebooks
+  <https://drive.google.com/drive/folders/1LI2xWVn1kqrZ5lIcM5Ktxr2B7X730cCj?usp=share_link>`_:
+  Jupyter notebooks created by Richard Murray for CDS 110 (Analysis
+  and Design of Feedback Systems) at Caltech.
+
+Note: in order to execute the Jupyter notebooks in this collection,
+you will need a Google account that has access to the Google
+Colaboratory application.
diff --git a/examples/.gitignore b/examples/.gitignore
@@ -0,0 +1 @@
+.ipynb-clean
diff --git a/examples/Makefile b/examples/Makefile
@@ -0,0 +1,29 @@
+# Makefile for python-control examples
+# RMM, 6 Jul 2024
+#
+# This makefile allows cleanup and posting of Jupyter notebooks into
+# Google Colab.
+#
+# Files are copied to Google Colab using rclone.  In order to copy files to
+# Google Colab, you should edit the GDRIVE variable to use the name of the
+# drive you have configured in rclone and the path where you want to place
+# the files.  The default location is set up for the fbsbook.org@gmail.com
+# Google Drive account, currently maintained by Richard Murray.
+
+NOTEBOOKS = cds110-L*_*.ipynb cds112-L*_*.ipynb
+GDRIVE= fbsbook-gdrive:python-control/public/notebooks
+
+# Clean up notebooks to remove output
+clean: .ipynb-clean
+.ipynb-clean: $(NOTEBOOKS)
+	@for i in $?; do \
+	    echo jupyter nbconvert --clear-output clear-metadata $$i; \
+	    jupyter nbconvert \
+		--ClearMetadataPreprocessor.enabled=True \
+		--clear-output $$i; \
+	done
+	touch $@
+
+# Post Jupyter notebooks on course website
+post: .ipynb-clean
+	rclone copy . $(GDRIVE) --include /cds110-L\*_\*.ipynb