python-control · murrayrm · Jun 9, 2019 · May 19, 2019 · May 19, 2019 · Jun 8, 2019
diff --git a/examples/bdalg-matlab.py b/examples/bdalg-matlab.py
@@ -10,8 +10,8 @@
 sys1ss = ss(A1, B1, C1, 0)
 sys1tf = ss2tf(sys1ss)
 
-sys2tf = tf([1, 0.5], [1, 5]);
-sys2ss = tf2ss(sys2tf);
+sys2tf = tf([1, 0.5], [1, 5])
+sys2ss = tf2ss(sys2tf)
 
 # Series composition
-series1 = sys1ss + sys2ss;
+series1 = sys1ss + sys2ss
diff --git a/examples/bode-and-nyquist-plots.ipynb b/examples/bode-and-nyquist-plots.ipynb
diff --git a/examples/check-controllability-and-observability.py b/examples/check-controllability-and-observability.py
@@ -6,25 +6,25 @@
 
 from __future__ import print_function
 
-from scipy import *  # Load the scipy functions
+import numpy as np  # Load the scipy functions
 from control.matlab import *  # Load the controls systems library
 
 # Parameters defining the system
 
 m = 250.0  # system mass
-k = 40.0  # spring constant
-b = 60.0  # damping constant
+k = 40.0   # spring constant
+b = 60.0   # damping constant
 
 # System matrices
-A = matrix([[1, -1, 1.],
-            [1, -k / m, -b / m],
-            [1, 1, 1]])
+A = np.array([[1, -1, 1.],
+             [1, -k/m, -b/m],
+             [1, 1, 1]])
 
-B = matrix([[0],
-            [1 / m],
-            [1]])
+B = np.array([[0],
+             [1/m],
+             [1]])
 
-C = matrix([[1., 0, 1.]])
+C = np.array([[1., 0, 1.]])
 
 sys = ss(A, B, C, 0)
 

diff --git a/examples/genswitch.py b/examples/genswitch.py
@@ -8,75 +8,76 @@
 import os
 
 import numpy as np
-import matplotlib.pyplot as mpl
+import matplotlib.pyplot as plt
 from scipy.integrate import odeint
 from control import phase_plot, box_grid
 
 # Simple model of a genetic switch
-#
+
 # This function implements the basic model of the genetic switch
 # Parameters taken from Gardner, Cantor and Collins, Nature, 2000
 def genswitch(y, t, mu=4, n=2):
-    return (mu / (1 + y[1]**n) - y[0], mu / (1 + y[0]**n) - y[1])
+    return mu/(1 + y[1]**n) - y[0], mu/(1 + y[0]**n) - y[1]
 
 # Run a simulation from an initial condition
 tim1 = np.linspace(0, 10, 100)
 sol1 = odeint(genswitch, [1, 5], tim1)
 
-# Extract the equlibirum points
-mu = 4; n = 2;			# switch parameters
-eqpt = np.empty(3);
-eqpt[0] = sol1[0,-1]
-eqpt[1] = sol1[1,-1]
-eqpt[2] = 0;                    # fzero(@(x) mu/(1+x^2) - x, 2);
+# Extract the equilibrium points
+mu = 4; n = 2           # switch parameters
+eqpt = np.empty(3)
+eqpt[0] = sol1[0, -1]
+eqpt[1] = sol1[1, -1]
+eqpt[2] = 0             # fzero(@(x) mu/(1+x^2) - x, 2)
 
 # Run another simulation showing switching behavior
-tim2 = np.linspace(11, 25, 100);
-sol2 = odeint(genswitch, sol1[-1,:] + [2, -2], tim2)
+tim2 = np.linspace(11, 25, 100)
+sol2 = odeint(genswitch, sol1[-1, :] + [2, -2], tim2)
 
 # First plot out the curves that define the equilibria
 u = np.linspace(0, 4.5, 46)
-f = np.divide(mu, (1 + u**n))   # mu / (1 + u^n), elementwise
+f = np.divide(mu, (1 + u**n))   # mu/(1 + u^n), element-wise
 
-mpl.figure(1); mpl.clf();
-mpl.axis([0, 5, 0, 5]);                 # box on;
-mpl.plot(u, f, '-', f, u, '--')         # 'LineWidth', AM_data_linewidth);
-mpl.legend(('z1, f(z1)', 'z2, f(z2)'))    # legend(lgh, 'boxoff');
-mpl.plot([0, 3], [0, 3], 'k-')          # 'LineWidth', AM_ref_linewidth);
-mpl.plot(eqpt[0], eqpt[1], 'k.', eqpt[1], eqpt[0], 'k.', 
-         eqpt[2], eqpt[2], 'k.')        # 'MarkerSize', AM_data_markersize*3);
-mpl.xlabel('z1, f(z2)');
-mpl.ylabel('z2, f(z1)');
+plt.figure(1); plt.clf()
+plt.axis([0, 5, 0, 5])                 # box on;
+plt.plot(u, f, '-', f, u, '--')         # 'LineWidth', AM_data_linewidth)
+plt.legend(('z1, f(z1)', 'z2, f(z2)'))    # legend(lgh, 'boxoff')
+plt.plot([0, 3], [0, 3], 'k-')          # 'LineWidth', AM_ref_linewidth)
+plt.plot(eqpt[0], eqpt[1], 'k.', eqpt[1], eqpt[0], 'k.',
+         eqpt[2], eqpt[2], 'k.')        # 'MarkerSize', AM_data_markersize*3)
+plt.xlabel('z1, f(z2)')
+plt.ylabel('z2, f(z1)')
 
 # Time traces
-mpl.figure(3); mpl.clf(); # subplot(221);
-mpl.plot(tim1, sol1[:,0], 'b-', tim1, sol1[:,1], 'g--');
-# set(pl, 'LineWidth', AM_data_linewidth);
-mpl.plot([tim1[-1], tim1[-1]+1], 
-         [sol1[-1,0], sol2[0,1]], 'ko:', 
-         [tim1[-1], tim1[-1]+1], [sol1[-1,1], sol2[0,0]], 'ko:');
-# set(pl, 'LineWidth', AM_data_linewidth, 'MarkerSize', AM_data_markersize);
-mpl.plot(tim2, sol2[:,0], 'b-', tim2, sol2[:,1], 'g--');
-# set(pl, 'LineWidth', AM_data_linewidth);
-mpl.axis([0, 25, 0, 5]);
+plt.figure(3); plt.clf()  # subplot(221)
+plt.plot(tim1, sol1[:, 0], 'b-', tim1, sol1[:, 1], 'g--')
+# set(pl, 'LineWidth', AM_data_linewidth)
+plt.plot([tim1[-1], tim1[-1] + 1],
+         [sol1[-1, 0], sol2[0, 1]], 'ko:',
+         [tim1[-1], tim1[-1] + 1], [sol1[-1, 1], sol2[0, 0]], 'ko:')
+# set(pl, 'LineWidth', AM_data_linewidth, 'MarkerSize', AM_data_markersize)
+plt.plot(tim2, sol2[:, 0], 'b-', tim2, sol2[:, 1], 'g--')
+# set(pl, 'LineWidth', AM_data_linewidth)
+plt.axis([0, 25, 0, 5])
 
-mpl.xlabel('Time {\itt} [scaled]');
-mpl.ylabel('Protein concentrations [scaled]');
-mpl.legend(('z1 (A)', 'z2 (B)'))  # 'Orientation', 'horizontal');
-# legend(legh, 'boxoff');
+plt.xlabel('Time {\itt} [scaled]')
+plt.ylabel('Protein concentrations [scaled]')
+plt.legend(('z1 (A)', 'z2 (B)'))  # 'Orientation', 'horizontal')
+# legend(legh, 'boxoff')
 
 # Phase portrait
-mpl.figure(2); mpl.clf(); # subplot(221);
-mpl.axis([0, 5, 0, 5]);         # set(gca, 'DataAspectRatio', [1, 1, 1]);
-phase_plot(genswitch, X0 = box_grid([0, 5, 6], [0, 5, 6]), T = 10, 
-          timepts = [0.2, 0.6, 1.2])
+plt.figure(2)
+plt.clf()  # subplot(221)
+plt.axis([0, 5, 0, 5])  # set(gca, 'DataAspectRatio', [1, 1, 1])
+phase_plot(genswitch, X0=box_grid([0, 5, 6], [0, 5, 6]), T=10,
+           timepts=[0.2, 0.6, 1.2])
 
 # Add the stable equilibrium points
-mpl.plot(eqpt[0], eqpt[1], 'k.', eqpt[1], eqpt[0], 'k.', 
-  eqpt[2], eqpt[2], 'k.')       # 'MarkerSize', AM_data_markersize*3);
+plt.plot(eqpt[0], eqpt[1], 'k.', eqpt[1], eqpt[0], 'k.',
+         eqpt[2], eqpt[2], 'k.')       # 'MarkerSize', AM_data_markersize*3)
 
-mpl.xlabel('Protein A [scaled]');
-mpl.ylabel('Protein B [scaled]');       # 'Rotation', 90);
+plt.xlabel('Protein A [scaled]')
+plt.ylabel('Protein B [scaled]')       # 'Rotation', 90)
 
 if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
-    mpl.show()
+    plt.show()