python-control · murrayrm · Jul 5, 2025 · Jul 4, 2025 · Jul 5, 2025 · Jul 5, 2025
diff --git a/.github/scripts/set-conda-test-matrix.py b/.github/scripts/set-conda-test-matrix.py
@@ -27,5 +27,19 @@
                 'blas_lib':  cbl}
         conda_jobs.append(cjob)
 
+# Make sure Windows jobs are included even if we didn't build any
+windows_pythons = ['3.11']  # Whatever you want to test
+
+for py in windows_pythons:
+    for blas in combinations['windows']:
+        cjob = {
+            'packagekey': f'windows-{py}',
+            'os': 'windows',
+            'python': py,
+            'blas_lib': blas,
+            'package_source': 'conda-forge'
+        }
+        conda_jobs.append(cjob)
+
 matrix = { 'include': conda_jobs }
 print(json.dumps(matrix))
diff --git a/.github/workflows/os-blas-test-matrix.yml b/.github/workflows/os-blas-test-matrix.yml
@@ -107,7 +107,6 @@ jobs:
           os:
             - 'ubuntu'
             - 'macos'
-            - 'windows'
           python:
             # build on one, expand matrix in conda-build from the Sylcot/conda-recipe/conda_build_config.yaml
             - '3.11'
@@ -332,7 +331,13 @@ jobs:
               echo "libblas * *mkl" >> $CONDA_PREFIX/conda-meta/pinned
               ;;
           esac
-          conda install -c ./slycot-conda-pkgs slycot
+          if [ "${{ matrix.os }}" = "windows" ]; then
+            echo "Installing slycot from conda-forge on Windows"
+            conda install slycot
+          else
+            echo "Installing built conda package from local channel"
+            conda install -c ./slycot-conda-pkgs slycot
+          fi	  
           conda list
       - name: Test with pytest
         run: JOBNAME="$JOBNAME" pytest control/tests

diff --git a/control/config.py b/control/config.py
@@ -297,7 +297,7 @@ def use_legacy_defaults(version):
     Parameters
     ----------
     version : string
-        Version number of the defaults desired. Ranges from '0.1' to '0.10.1'.
+        Version number of `python-control` to use for setting defaults.
 
     Examples
     --------
@@ -342,6 +342,14 @@ def use_legacy_defaults(version):
     #
     reset_defaults()            # start from a clean slate
 
+    # Version 0.10.2:
+    if major == 0 and minor < 10 or (minor == 10 and patch < 2):
+        from math import inf
+
+        # Reset Nyquist defaults
+        set_defaults('nyquist', arrows=2, max_curve_magnitude=20,
+                     blend_fraction=0, indent_points=50)
+
     # Version 0.9.2:
     if major == 0 and minor < 9 or (minor == 9 and patch < 2):
         from math import inf

diff --git a/control/freqplot.py b/control/freqplot.py
@@ -1659,7 +1659,7 @@ def nyquist_plot(
         portions of the contour are plotted using a different line style.
     label : str or array_like of str, optional
         If present, replace automatically generated label(s) with the given
-        label(s).  If sysdata is a list, strings should be specified for each
+        label(s).  If `data` is a list, strings should be specified for each
         system.
     label_freq : int, optional
         Label every nth frequency on the plot.  If not specified, no labels
@@ -1690,8 +1690,8 @@ def nyquist_plot(
         elements is equivalent to providing `omega_limits`.
     omega_num : int, optional
         Number of samples to use for the frequency range.  Defaults to
-        `config.defaults['freqplot.number_of_samples']`.  Ignored if data is
-        not a list of systems.
+        `config.defaults['freqplot.number_of_samples']`.  Ignored if `data`
+        is not a system or list of systems.
     plot : bool, optional
         (legacy) If given, `nyquist_plot` returns the legacy return values
         of (counts, contours).  If False, return the values with no plot.

diff --git a/control/margins.py b/control/margins.py
@@ -536,10 +536,12 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
         1D array of (non-negative) frequencies (rad/s) at which
         to evaluate the disk-based stability margins.
     skew : float or array_like, optional
-        skew parameter(s) for disk margin (default = 0.0).
-        skew = 0.0 "balanced" sensitivity function 0.5*(S - T).
-        skew = 1.0 sensitivity function S.
-        skew = -1.0 complementary sensitivity function T.
+        Skew parameter(s) for disk margin (default = 0.0):
+
+        * skew = 0.0 "balanced" sensitivity function 0.5*(S - T)
+        * skew = 1.0 sensitivity function S
+        * skew = -1.0 complementary sensitivity function T
+
     returnall : bool, optional
         If True, return frequency-dependent margins.
         If False (default), return worst-case (minimum) margins.
@@ -553,7 +555,7 @@ def disk_margins(L, omega, skew=0.0, returnall=False):
     DPM : float or array_like
         Disk-based phase margin.
 
-    Example
+    Examples
     --------
     >> omega = np.logspace(-1, 3, 1001)
     >> P = control.ss([[0, 10], [-10, 0]], np.eye(2), [[1, 10],

diff --git a/control/matlab/__init__.py b/control/matlab/__init__.py
@@ -6,7 +6,7 @@
 
 This subpackage contains a number of functions that emulate some of
 the functionality of MATLAB.  The intent of these functions is to
-provide a simple interface to the python control systems library
+provide a simple interface to the Python Control Systems Library
 (python-control) for people who are familiar with the MATLAB Control
 Systems Toolbox (tm).
 

diff --git a/control/pzmap.py b/control/pzmap.py
@@ -129,7 +129,7 @@ def replot(self, cplt: ControlPlot):
 
         Parameters
         ----------
-        cplt: ControlPlot
+        cplt : `ControlPlot`
             Graphics handles of the existing plot.
         """
         pole_zero_replot(self, cplt)

diff --git a/control/tests/discrete_test.py b/control/tests/discrete_test.py
@@ -26,9 +26,11 @@ class Tsys:
         sys = rss(3, 1, 1)
         T.siso_ss1 = StateSpace(sys.A, sys.B, sys.C, sys.D, None)
         T.siso_ss1c = StateSpace(sys.A, sys.B, sys.C, sys.D, 0.0)
-        T.siso_ss1d = StateSpace(sys.A, sys.B, sys.C, sys.D, 0.1)
-        T.siso_ss2d = StateSpace(sys.A, sys.B, sys.C, sys.D, 0.2)
-        T.siso_ss3d = StateSpace(sys.A, sys.B, sys.C, sys.D, True)
+
+        dsys = ct.sample_system(sys, 1)
+        T.siso_ss1d = StateSpace(dsys.A, dsys.B, dsys.C, dsys.D, 0.1)
+        T.siso_ss2d = StateSpace(dsys.A, dsys.B, dsys.C, dsys.D, 0.2)
+        T.siso_ss3d = StateSpace(dsys.A, dsys.B, dsys.C, dsys.D, True)
 
         # Two input, two output continuous-time system
         A = [[-3., 4., 2.], [-1., -3., 0.], [2., 5., 3.]]
@@ -39,17 +41,18 @@ class Tsys:
         T.mimo_ss1c = StateSpace(A, B, C, D, 0)
 
         # Two input, two output discrete-time system
-        T.mimo_ss1d = StateSpace(A, B, C, D, 0.1)
+        T.mimo_ss1d = ct.sample_system(T.mimo_ss1c, 0.1)
 
         # Same system, but with a different sampling time
-        T.mimo_ss2d = StateSpace(A, B, C, D, 0.2)
+        T.mimo_ss2d = StateSpace(
+            T.mimo_ss1d.A, T.mimo_ss1d.B, T.mimo_ss1d.C, T.mimo_ss1d.D, 0.2)
 
         # Single input, single output continuus and discrete transfer function
         T.siso_tf1 = TransferFunction([1, 1], [1, 2, 1], None)
-        T.siso_tf1c = TransferFunction([1, 1], [1, 2, 1], 0)
-        T.siso_tf1d = TransferFunction([1, 1], [1, 2, 1], 0.1)
-        T.siso_tf2d = TransferFunction([1, 1], [1, 2, 1], 0.2)
-        T.siso_tf3d = TransferFunction([1, 1], [1, 2, 1], True)
+        T.siso_tf1c = TransferFunction([1, 1], [1, 0.2, 1], 0)
+        T.siso_tf1d = TransferFunction([1, 1], [1, 0.2, 0.1], 0.1)
+        T.siso_tf2d = TransferFunction([1, 1], [1, 0.2, 0.1], 0.2)
+        T.siso_tf3d = TransferFunction([1, 1], [1, 0.2, 0.1], True)
 
         return T
 

diff --git a/control/tests/margin_test.py b/control/tests/margin_test.py
@@ -384,7 +384,7 @@ def test_siso_disk_margin():
     # Balanced (S - T) disk-based stability margins
     DM, DGM, DPM = disk_margins(L, omega, skew=0.0)
     assert_allclose([DM], [0.46], atol=0.1) # disk margin of 0.46
-    assert_allclose([DGM], [4.05], atol=0.1) # disk-based gain margin of 4.05 dB 
+    assert_allclose([DGM], [4.05], atol=0.1) # disk-based gain margin of 4.05 dB
     assert_allclose([DPM], [25.8], atol=0.1) # disk-based phase margin of 25.8 deg
 
     # For SISO systems, the S-based (S) disk margin should match the third output
@@ -408,13 +408,13 @@ def test_mimo_disk_margin():
         # Balanced (S - T) disk-based stability margins at plant output
         DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0)
         assert_allclose([DMo], [0.3754], atol=0.1) # disk margin of 0.3754
-        assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB 
+        assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
         assert_allclose([DPMo], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg
 
         # Balanced (S - T) disk-based stability margins at plant input
         DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0)
         assert_allclose([DMi], [0.3754], atol=0.1) # disk margin of 0.3754
-        assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB 
+        assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
         assert_allclose([DPMi], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg
     else:
         # Slycot not installed.  Should throw exception.
@@ -435,7 +435,7 @@ def test_siso_disk_margin_return_all():
         atol=0.01) # sensitivity peak at 1.94 rad/s
     assert_allclose([min(DM)], [0.46], atol=0.1) # disk margin of 0.46
     assert_allclose([DGM[np.argmin(DM)]], [4.05],\
-        atol=0.1) # disk-based gain margin of 4.05 dB 
+        atol=0.1) # disk-based gain margin of 4.05 dB
     assert_allclose([DPM[np.argmin(DM)]], [25.8],\
         atol=0.1) # disk-based phase margin of 25.8 deg
 
@@ -457,7 +457,7 @@ def test_mimo_disk_margin_return_all():
             atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
         assert_allclose([min(DMo)], [0.3754], atol=0.1) # disk margin of 0.3754
         assert_allclose([DGMo[np.argmin(DMo)]], [3.3],\
-            atol=0.1) # disk-based gain margin of 3.3 dB 
+            atol=0.1) # disk-based gain margin of 3.3 dB
         assert_allclose([DPMo[np.argmin(DMo)]], [21.26],\
             atol=0.1) # disk-based phase margin of 21.26 deg
 
@@ -468,7 +468,7 @@ def test_mimo_disk_margin_return_all():
         assert_allclose([min(DMi)], [0.3754],\
             atol=0.1) # disk margin of 0.3754
         assert_allclose([DGMi[np.argmin(DMi)]], [3.3],\
-            atol=0.1) # disk-based gain margin of 3.3 dB 
+            atol=0.1) # disk-based gain margin of 3.3 dB
         assert_allclose([DPMi[np.argmin(DMi)]], [21.26],\
             atol=0.1) # disk-based phase margin of 21.26 deg
     else:

diff --git a/doc/develop.rst b/doc/develop.rst
@@ -110,8 +110,8 @@ Filenames
 * Source files are lower case, usually less than 10 characters (and 8
   or less is better).
 
-* Unit tests (in `control/tests/`) are of the form `module_test.py` or
-  `module_function.py`.
+* Unit tests (in `control/tests/`) are of the form `module_test.py`,
+  `module_functionality_test.py`, or `functionality_test.py`.
 
 
 Class names

diff --git a/doc/examples.rst b/doc/examples.rst
@@ -39,6 +39,7 @@ other sources.
    examples/mrac_siso_lyapunov
    examples/markov
    examples/era_msd
+   examples/disk_margins
 
 Jupyter Notebooks
 =================

diff --git a/doc/examples/disk_margins.py b/doc/examples/disk_margins.py
@@ -0,0 +1 @@
+../../examples/disk_margins.py
diff --git a/doc/intro.rst b/doc/intro.rst
@@ -126,7 +126,7 @@ some things to keep in mind:
 
 * Vectors and matrices used as arguments to functions can be written
   using lists, with commas required between elements and column
-  vectors implemented as nested list .  So [1 2 3] must be written as
+  vectors implemented as nested lists.  So [1 2 3] must be written as
   [1, 2, 3] and matrices are written using 2D nested lists, e.g., [[1,
   2], [3, 4]].
 * Functions that in MATLAB would return variable numbers of values
@@ -150,12 +150,12 @@ This documentation has a number of notional conventions and functionality:
   Manual, which contains documentation for all functions, classes,
   configurable default parameters, and other detailed information.
 
-* Class, functions, and methods with additional documentation appear
+* Classes, functions, and methods with additional documentation appear
   in a bold, code font that link to the Reference Manual. Example: `ss`.
 
 * Links to other sections appear in blue. Example: :ref:`nonlinear-systems`.
 
-* Parameters appear in a (non-bode) code font, as do code fragments.
+* Parameters appear in a (non-bold) code font, as do code fragments.
   Example: `omega`.
 
 * Example code is contained in code blocks that can be copied using

diff --git a/doc/releases/0.10.2-notes.rst b/doc/releases/0.10.2-notes.rst
@@ -9,15 +9,16 @@ Version 0.10.2 Release Notes (current)
 * `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 consistency of keyword arguments and function
-names, with legacy aliases available.
+This release includes numerous bug fixes and improvements, with major
+changes such as a substantial reorganization of the documentation into
+a User Guide and Reference Manual, more consistent and complete
+docstrings, and support for referencing signals and subsystems by name
+as well as by index. Phase plane plots now use matplotlib’s
+`streamplot` for better visuals. New functions include `combine_tf`
+and `split_tf` for MIMO/SISO conversion and `disk_margins` for
+stability analysis. Additional improvements include consistent keyword
+usage, expanded LTI system methods for plotting and responses, better
+error messages, and legacy aliases to maintain backward compatibility.
 
 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.

diff --git a/examples/python-control_tutorial.ipynb b/examples/python-control_tutorial.ipynb
@@ -94,7 +94,7 @@
     "id": "qMVGK15gNQw2"
    },
    "source": [
-    "## Example 1: Open loop analysis of a coupled mass spring system\n",
+    "## Example 1: Open Loop Analysis of a Coupled Mass Spring System\n",
     "\n",
     "Consider the spring mass system below:\n",
     "\n",
@@ -781,7 +781,7 @@
    "id": "2f27f767-e012-45f9-8b76-cc040cfc89e2",
    "metadata": {},
    "source": [
-    "## Example 2: Trajectory tracking for a kinematic vehicle model\n",
+    "## Example 2: Trajectory Tracking for a Kinematic Vehicle Model\n",
     "\n",
     "This example illustrates the use of python-control to model, analyze, and design nonlinear control systems.\n",
     "\n",
@@ -1213,7 +1213,7 @@
    "id": "03b1fd75-579c-47da-805d-68f155957084",
    "metadata": {},
    "source": [
-    "## Computing environment"
+    "## Computing Environment"
    ]
   },
   {

diff --git a/pyproject.toml b/pyproject.toml
@@ -10,13 +10,12 @@ build-backend = "setuptools.build_meta"
 name = "control"
 description = "Python Control Systems Library"
 authors = [{name = "Python Control Developers", email = "python-control-developers@lists.sourceforge.net"}]
-license = {text = "BSD-3-Clause"}
+license = "BSD-3-Clause"
 readme = "README.rst"
 classifiers = [
     "Development Status :: 4 - Beta",
     "Intended Audience :: Science/Research",
     "Intended Audience :: Developers",
-    "License :: OSI Approved :: BSD License",
     "Programming Language :: Python :: 3",
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",