python-control · murrayrm · Aug 13, 2024 · May 11, 2024 · May 19, 2024 · Jul 29, 2024
diff --git a/Pending b/Pending
diff --git a/control/bdalg.py b/control/bdalg.py
@@ -73,7 +73,7 @@ def series(sys1, *sysn, **kwargs):
 
     Parameters
     ----------
-    sys1, sys2, ..., sysn: scalar, array, or :class:`InputOutputSystem`
+    sys1, sys2, ..., sysn : scalar, array, or :class:`InputOutputSystem`
         I/O systems to combine.
 
     Returns
@@ -145,7 +145,7 @@ def parallel(sys1, *sysn, **kwargs):
 
     Parameters
     ----------
-    sys1, sys2, ..., sysn: scalar, array, or :class:`InputOutputSystem`
+    sys1, sys2, ..., sysn : scalar, array, or :class:`InputOutputSystem`
         I/O systems to combine.
 
     Returns
@@ -213,7 +213,7 @@ def negate(sys, **kwargs):
 
     Parameters
     ----------
-    sys: scalar, array, or :class:`InputOutputSystem`
+    sys : scalar, array, or :class:`InputOutputSystem`
         I/O systems to negate.
 
     Returns
@@ -265,9 +265,9 @@ def feedback(sys1, sys2=1, sign=-1, **kwargs):
 
     Parameters
     ----------
-    sys1, sys2: scalar, array, or :class:`InputOutputSystem`
+    sys1, sys2 : scalar, array, or :class:`InputOutputSystem`
         I/O systems to combine.
-    sign: scalar
+    sign : scalar
         The sign of feedback.  `sign` = -1 indicates negative feedback, and
         `sign` = 1 indicates positive feedback.  `sign` is an optional
         argument; it assumes a value of -1 if not specified.
@@ -412,8 +412,8 @@ def connect(sys, Q, inputv, outputv):
     """Index-based interconnection of an LTI system.
 
     .. deprecated:: 0.10.0
-        `connect` will be removed in a future version of python-control in
-        favor of `interconnect`, which works with named signals.
+        `connect` will be removed in a future version of python-control.
+        Use :func:`interconnect` instead, which works with named signals.
 
     The system `sys` is a system typically constructed with `append`, with
     multiple inputs and outputs.  The inputs and outputs are connected
@@ -465,7 +465,7 @@ def connect(sys, Q, inputv, outputv):
 
     """
     # TODO: maintain `connect` for use in MATLAB submodule (?)
-    warn("`connect` is deprecated; use `interconnect`", DeprecationWarning)
+    warn("connect() is deprecated; use interconnect()", FutureWarning)
 
     inputv, outputv, Q = \
         np.atleast_1d(inputv), np.atleast_1d(outputv), np.atleast_1d(Q)

diff --git a/control/canonical.py b/control/canonical.py
@@ -204,7 +204,7 @@ def similarity_transform(xsys, T, timescale=1, inverse=False):
         The matrix `T` defines the new set of coordinates z = T x.
     timescale : float, optional
         If present, also rescale the time unit to tau = timescale * t
-    inverse: boolean, optional
+    inverse : bool, optional
         If True (default), transform so z = T x.  If False, transform
         so x = T z.
 
@@ -397,21 +397,21 @@ def bdschur(a, condmax=None, sort=None):
 
     Parameters
     ----------
-        a : (M, M) array_like
-            Real matrix to decompose
-        condmax : None or float, optional
-            If None (default), use 1/sqrt(eps), which is approximately 1e8
-        sort : {None, 'continuous', 'discrete'}
-            Block sorting; see below.
+    a : (M, M) array_like
+        Real matrix to decompose
+    condmax : None or float, optional
+        If None (default), use 1/sqrt(eps), which is approximately 1e8
+    sort : {None, 'continuous', 'discrete'}
+        Block sorting; see below.
 
     Returns
     -------
-        amodal : (M, M) real ndarray
-            Block-diagonal Schur decomposition of `a`
-        tmodal : (M, M) real ndarray
-            Similarity transform relating `a` and `amodal`
-        blksizes : (N,) int ndarray
-            Array of Schur block sizes
+    amodal : (M, M) real ndarray
+        Block-diagonal Schur decomposition of `a`
+    tmodal : (M, M) real ndarray
+        Similarity transform relating `a` and `amodal`
+    blksizes : (N,) int ndarray
+        Array of Schur block sizes
 
     Notes
     -----

diff --git a/control/config.py b/control/config.py
@@ -83,6 +83,13 @@ def set_defaults(module, **keywords):
     The set_defaults() function can be used to modify multiple parameter
     values for a module at the same time, using keyword arguments.
 
+    Parameters
+    ----------
+    module : str
+        Name of the module for which the defaults are being given.
+    **keywords : keyword arguments
+        Parameter value assignments.
+
     Examples
     --------
     >>> ct.defaults['freqplot.number_of_samples']
@@ -355,7 +362,7 @@ def _process_legacy_keyword(kwargs, oldkey, newkey, newval):
     if kwargs.get(oldkey) is not None:
         warnings.warn(
             f"keyword '{oldkey}' is deprecated; use '{newkey}'",
-            DeprecationWarning)
+            FutureWarning)
         if newval is not None:
             raise ControlArgument(
                 f"duplicate keywords '{oldkey}' and '{newkey}'")

diff --git a/control/ctrlplot.py b/control/ctrlplot.py
@@ -207,11 +207,12 @@ def suptitle(
         title, fig=None, frame='axes', **kwargs):
     """Add a centered title to a figure.
 
-    This function is deprecated.  Use :func:`ControlPlot.set_plot_title`.
+    .. deprecated:: 0.10.1
+        Use :func:`ControlPlot.set_plot_title`.
 
     """
     warnings.warn(
-        "suptitle is deprecated; use cplt.set_plot_title", FutureWarning)
+        "suptitle() is deprecated; use cplt.set_plot_title()", FutureWarning)
     _update_plot_title(
         title, fig=fig, frame=frame, use_existing=False, **kwargs)
 
@@ -220,6 +221,10 @@ def suptitle(
 def get_plot_axes(line_array):
     """Get a list of axes from an array of lines.
 
+    .. deprecated:: 0.10.1
+        This function will be removed in a future version of python-control.
+        Use `cplt.axes` to obtain axes for an instance of :class:`ControlPlot`.
+
     This function can be used to return the set of axes corresponding
     to the line array that is returned by `time_response_plot`.  This
     is useful for generating an axes array that can be passed to
@@ -242,7 +247,8 @@ def get_plot_axes(line_array):
     Only the first element of each array entry is used to determine the axes.
 
     """
-    warnings.warn("get_plot_axes is deprecated; use cplt.axes", FutureWarning)
+    warnings.warn(
+        "get_plot_axes() is deprecated; use cplt.axes()", FutureWarning)
     _get_axes = np.vectorize(lambda lines: lines[0].axes)
     if isinstance(line_array, ControlPlot):
         return _get_axes(line_array.lines)
@@ -268,6 +274,9 @@ def pole_zero_subplots(
         Scaling to apply to the subplots.
     fig : :class:`matplotlib.figure.Figure`
         Figure to use for creating subplots.
+    rcParams : dict
+        Override the default parameters used for generating plots.
+        Default is set up config.default['ctrlplot.rcParams'].
 
     Returns
     -------

diff --git a/control/ctrlutil.py b/control/ctrlutil.py
@@ -88,7 +88,8 @@ def unwrap(angle, period=2*math.pi):
 def issys(obj):
     """Deprecated function to check if an object is an LTI system.
 
-    Use isinstance(obj, ct.LTI)
+    .. deprecated:: 0.10.0
+        Use isinstance(obj, ct.LTI)
 
     """
     warnings.warn("issys() is deprecated; use isinstance(obj, ct.LTI)",

diff --git a/control/delay.py b/control/delay.py
@@ -57,10 +57,10 @@ def pade(T, n=1, numdeg=None):
         time delay
     n : positive integer
         degree of denominator of approximation
-    numdeg: integer, or None (the default)
-            If None, numerator degree equals denominator degree
-            If >= 0, specifies degree of numerator
-            If < 0, numerator degree is n+numdeg
+    numdeg : integer, or None (the default)
+        If numdeg is `None`, numerator degree equals denominator degree.
+        If numdeg >= 0, specifies degree of numerator.
+        If numdeg < 0, numerator degree is n+numdeg.
 
     Returns
     -------

diff --git a/control/descfcn.py b/control/descfcn.py
@@ -102,6 +102,10 @@ def describing_function(
     A : array_like
         The amplitude(s) at which the describing function should be calculated.
 
+    num_points : int, optional
+        Number of points to use in computing describing function (default =
+        100).
+
     zero_check : bool, optional
         If `True` (default) then `A` is zero, the function will be evaluated
         and checked to make sure it is zero.  If not, a `TypeError` exception
@@ -271,7 +275,7 @@ def __len__(self):
 # Compute the describing function response + intersections
 def describing_function_response(
         H, F, A, omega=None, refine=True, warn_nyquist=None,
-        plot=False, check_kwargs=True, **kwargs):
+        _check_kwargs=True, **kwargs):
     """Compute the describing function response of a system.
 
     This function uses describing function analysis to analyze a closed
@@ -294,6 +298,10 @@ def describing_function_response(
         Set to True to turn on warnings generated by `nyquist_plot` or False
         to turn off warnings.  If not set (or set to None), warnings are
         turned off if omega is specified, otherwise they are turned on.
+    refine : bool, optional
+        If `True`, :func:`scipy.optimize.minimize` to refine the estimate
+        of the intersection of the frequency response and the describing
+        function.
 
     Returns
     -------
@@ -328,7 +336,7 @@ def describing_function_response(
     # Start by drawing a Nyquist curve
     response = nyquist_response(
         H, omega, warn_encirclements=warn_nyquist, warn_nyquist=warn_nyquist,
-        check_kwargs=check_kwargs, **kwargs)
+        _check_kwargs=_check_kwargs, **kwargs)
     H_omega, H_vals = response.contour.imag, H(response.contour)
 
     # Compute the describing function
@@ -420,6 +428,8 @@ def describing_function_plot(
         If True (default), refine the location of the intersection of the
         Nyquist curve for the linear system and the describing function to
         determine the intersection point
+    label : str or array_like of str, optional
+        If present, replace automatically generated label with the given label.
     point_label : str, optional
         Formatting string used to label intersection points on the Nyquist
         plot.  Defaults to "%5.2g @ %-5.2g".  Set to `None` to omit labels.
@@ -429,6 +439,10 @@ def describing_function_plot(
         Otherwise, a new figure is created.
     title : str, optional
         Set the title of the plot.  Defaults to plot type and system name(s).
+    warn_nyquist : bool, optional
+        Set to True to turn on warnings generated by `nyquist_plot` or False
+        to turn off warnings.  If not set (or set to None), warnings are
+        turned off if omega is specified, otherwise they are turned on.
     **kwargs : :func:`matplotlib.pyplot.plot` keyword properties, optional
         Additional keywords passed to `matplotlib` to specify line properties
         for Nyquist curve.

diff --git a/control/dtime.py b/control/dtime.py
@@ -82,7 +82,7 @@ def sample_system(sysc, Ts, method='zoh', alpha=None, prewarp_frequency=None,
     Other Parameters
     ----------------
     inputs : int, list of str or None, optional
-        Description of the system inputs.  If not specified, the origional
+        Description of the system inputs.  If not specified, the original
         system inputs are used.  See :class:`InputOutputSystem` for more
         information.
     outputs : int, list of str or None, optional

diff --git a/control/frdata.py b/control/frdata.py
@@ -597,12 +597,13 @@ def freqresp(self, omega):
             Method has been given the more pythonic name
             :meth:`FrequencyResponseData.frequency_response`. Or use
             :func:`freqresp` in the MATLAB compatibility module.
+
         """
         warn("FrequencyResponseData.freqresp(omega) will be removed in a "
              "future release of python-control; use "
              "FrequencyResponseData.frequency_response(omega), or "
              "freqresp(sys, omega) in the MATLAB compatibility module "
-             "instead", DeprecationWarning)
+             "instead", FutureWarning)
         return self.frequency_response(omega)
 
     def feedback(self, other=1, sign=-1):