diff --git a/control/tests/conftest.py b/control/tests/conftest.py
index b67ef3674..ac35748f3 100644
--- a/control/tests/conftest.py
+++ b/control/tests/conftest.py
@@ -1,14 +1,13 @@
 """conftest.py - pytest local plugins and fixtures"""
 
-from contextlib import contextmanager
-from distutils.version import StrictVersion
 import os
 import sys
+from contextlib import contextmanager
 
 import matplotlib as mpl
 import numpy as np
-import scipy as sp
 import pytest
+import scipy as sp
 
 import control
 
@@ -18,10 +17,6 @@
 # pytest.param(marks=)
 slycotonly = pytest.mark.skipif(not control.exception.slycot_check(),
                                 reason="slycot not installed")
-noscipy0 = pytest.mark.skipif(StrictVersion(sp.__version__) < "1.0",
-                              reason="requires SciPy 1.0 or greater")
-nopython2 = pytest.mark.skipif(sys.version_info < (3, 0),
-                               reason="requires Python 3+")
 matrixfilter = pytest.mark.filterwarnings("ignore:.*matrix subclass:"
                                           "PendingDeprecationWarning")
 matrixerrorfilter = pytest.mark.filterwarnings("error:.*matrix subclass:"
@@ -43,6 +38,7 @@ def control_defaults():
     # assert that nothing changed it without reverting
     assert control.config.defaults == the_defaults
 
+
 @pytest.fixture(scope="function", autouse=TEST_MATRIX_AND_ARRAY,
                 params=[pytest.param("arrayout", marks=matrixerrorfilter),
                         pytest.param("matrixout", marks=matrixfilter)])
@@ -110,10 +106,10 @@ def editsdefaults():
 
 @pytest.fixture(scope="function")
 def mplcleanup():
-    """Workaround for python2
+    """Clean up any plots and changes a test may have made to matplotlib.
 
-    python 2 does not like to mix the original mpl decorator with pytest
-    fixtures. So we roll our own.
+    compare matplotlib.testing.decorators.cleanup() but as a fixture instead
+    of a decorator.
     """
     save = mpl.units.registry.copy()
     try:
diff --git a/control/tests/flatsys_test.py b/control/tests/flatsys_test.py
index a12852759..e3584d459 100644
--- a/control/tests/flatsys_test.py
+++ b/control/tests/flatsys_test.py
@@ -8,8 +8,6 @@
 created for that purpose.
 """
 
-from distutils.version import StrictVersion
-
 import numpy as np
 import pytest
 import scipy as sp
@@ -118,11 +116,10 @@ def test_kinematic_car(self, vehicle_flat, poly):
         resp = ct.input_output_response(vehicle_flat, T, ud, x0)
         np.testing.assert_array_almost_equal(resp.states, xd, decimal=2)
 
-        # For SciPy 1.0+, integrate equations and compare to desired
-        if StrictVersion(sp.__version__) >= "1.0":
-            t, y, x = ct.input_output_response(
-                vehicle_flat, T, ud, x0, return_x=True)
-            np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
+        # integrate equations and compare to desired
+        t, y, x = ct.input_output_response(
+            vehicle_flat, T, ud, x0, return_x=True)
+        np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
 
     def test_flat_default_output(self, vehicle_flat):
         # Construct a flat system with the default outputs
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
index 825cec5c5..693be979e 100644
--- a/control/tests/iosys_test.py
+++ b/control/tests/iosys_test.py
@@ -9,13 +9,15 @@
 """
 
 import re
+import warnings
 
 import numpy as np
 import pytest
 
 import control as ct
 from control import iosys as ios
-from control.tests.conftest import noscipy0, matrixfilter
+from control.tests.conftest import matrixfilter
+
 
 class TestIOSys:
 
@@ -46,7 +48,6 @@ class TSys:
 
         return T
 
-    @noscipy0
     def test_linear_iosys(self, tsys):
         # Create an input/output system from the linear system
         linsys = tsys.siso_linsys
@@ -65,7 +66,6 @@ def test_linear_iosys(self, tsys):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     def test_tf2io(self, tsys):
         # Create a transfer function from the state space system
         linsys = tsys.siso_linsys
@@ -129,7 +129,6 @@ def test_iosys_print(self, tsys, capsys):
         ios_linearized = ios.linearize(ios_unspecified, [0, 0], [0])
         print(ios_linearized)
 
-    @noscipy0
     @pytest.mark.parametrize("ss", [ios.NonlinearIOSystem, ct.ss])
     def test_nonlinear_iosys(self, tsys, ss):
         # Create a simple nonlinear I/O system
@@ -236,7 +235,6 @@ def test_linearize_named_signals(self, kincar):
         assert lin_nocopy.find_output('x') is None
         assert lin_nocopy.find_state('x') is None
 
-    @noscipy0
     def test_connect(self, tsys):
         # Define a couple of (linear) systems to interconnection
         linsys1 = tsys.siso_linsys
@@ -294,7 +292,6 @@ def test_connect(self, tsys):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     @pytest.mark.parametrize(
         "connections, inplist, outlist",
         [pytest.param([[(1, 0), (0, 0, 1)]], [[(0, 0, 1)]], [[(1, 0, 1)]],
@@ -338,7 +335,6 @@ def test_connect_spec_variants(self, tsys, connections, inplist, outlist):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     @pytest.mark.parametrize(
         "connections, inplist, outlist",
         [pytest.param([['sys2.u[0]', 'sys1.y[0]']],
@@ -375,7 +371,6 @@ def test_connect_spec_warnings(self, tsys, connections, inplist, outlist):
         np.testing.assert_array_almost_equal(lti_t, ios_t)
         np.testing.assert_allclose(lti_y, ios_y, atol=0.002, rtol=0.)
 
-    @noscipy0
     def test_static_nonlinearity(self, tsys):
         # Linear dynamical system
         linsys = tsys.siso_linsys
@@ -400,7 +395,6 @@ def test_static_nonlinearity(self, tsys):
         np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=2)
 
 
-    @noscipy0
     @pytest.mark.filterwarnings("ignore:Duplicate name::control.iosys")
     def test_algebraic_loop(self, tsys):
         # Create some linear and nonlinear systems to play with
@@ -470,7 +464,6 @@ def test_algebraic_loop(self, tsys):
         with pytest.raises(RuntimeError):
             ios.input_output_response(*args)
 
-    @noscipy0
     def test_summer(self, tsys):
         # Construct a MIMO system for testing
         linsys = tsys.mimo_linsys1
@@ -489,7 +482,6 @@ def test_summer(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_parallel, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_rmul(self, tsys):
         # Test right multiplication
         # TODO: replace with better tests when conversions are implemented
@@ -510,7 +502,6 @@ def test_rmul(self, tsys):
         lti_t, lti_y = ct.forced_response(ioslin, T, U*U, X0)
         np.testing.assert_array_almost_equal(ios_y, lti_y*lti_y, decimal=3)
 
-    @noscipy0
     def test_neg(self, tsys):
         """Test negation of a system"""
 
@@ -533,7 +524,6 @@ def test_neg(self, tsys):
         lti_t, lti_y = ct.forced_response(ioslin, T, U*U, X0)
         np.testing.assert_array_almost_equal(ios_y, -lti_y, decimal=3)
 
-    @noscipy0
     def test_feedback(self, tsys):
         # Set up parameters for simulation
         T, U, X0 = tsys.T, tsys.U, tsys.X0
@@ -549,7 +539,6 @@ def test_feedback(self, tsys):
         lti_t, lti_y = ct.forced_response(linsys, T, U, X0)
         np.testing.assert_allclose(ios_y, lti_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_bdalg_functions(self, tsys):
         """Test block diagram functions algebra on I/O systems"""
         # Set up parameters for simulation
@@ -596,7 +585,6 @@ def test_bdalg_functions(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_feedback, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_algebraic_functions(self, tsys):
         """Test algebraic operations on I/O systems"""
         # Set up parameters for simulation
@@ -648,7 +636,6 @@ def test_algebraic_functions(self, tsys):
         ios_t, ios_y = ios.input_output_response(iosys_negate, T, U, X0)
         np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)
 
-    @noscipy0
     def test_nonsquare_bdalg(self, tsys):
         # Set up parameters for simulation
         T = tsys.T
@@ -699,7 +686,6 @@ def test_nonsquare_bdalg(self, tsys):
         with pytest.raises(ValueError):
             ct.series(*args)
 
-    @noscipy0
     def test_discrete(self, tsys):
         """Test discrete time functionality"""
         # Create some linear and nonlinear systems to play with
@@ -868,7 +854,6 @@ def test_find_eqpts(self, tsys):
         assert xeq is None
         assert ueq is None
 
-    @noscipy0
     def test_params(self, tsys):
         # Start with the default set of parameters
         ios_secord_default = ios.NonlinearIOSystem(
@@ -1433,11 +1418,10 @@ def test_duplicates(self, tsys):
         nlios2 = ios.NonlinearIOSystem(None,
                                        lambda t, x, u, params: u * u,
                                        inputs=1, outputs=1, name="nlios2")
-        with pytest.warns(None) as record:
+        with warnings.catch_warnings():
+            warnings.simplefilter("error")
             ct.InterconnectedSystem([nlios1, iosys_siso, nlios2],
                                     inputs=0, outputs=0, states=0)
-        if record:
-            pytest.fail("Warning not expected: " + record[0].message)
 
 
 def test_linear_interconnection():
@@ -1527,7 +1511,7 @@ def predprey(t, x, u, params={}):
 
 def pvtol(t, x, u, params={}):
     """Reduced planar vertical takeoff and landing dynamics"""
-    from math import sin, cos
+    from math import cos, sin
     m = params.get('m', 4.)      # kg, system mass
     J = params.get('J', 0.0475)  # kg m^2, system inertia
     r = params.get('r', 0.25)    # m, thrust offset
@@ -1543,7 +1527,7 @@ def pvtol(t, x, u, params={}):
 
 
 def pvtol_full(t, x, u, params={}):
-    from math import sin, cos
+    from math import cos, sin
     m = params.get('m', 4.)      # kg, system mass
     J = params.get('J', 0.0475)  # kg m^2, system inertia
     r = params.get('r', 0.25)    # m, thrust offset
@@ -1596,8 +1580,12 @@ def test_interconnect_unused_input():
                             inputs=['r'],
                             outputs=['y'])
 
-    with pytest.warns(None) as record:
+    with warnings.catch_warnings():
         # no warning if output explicitly ignored, various argument forms
+        warnings.simplefilter("error")
+        # strip out matrix warnings
+        warnings.filterwarnings("ignore", "the matrix subclass",
+                                category=PendingDeprecationWarning)
         h = ct.interconnect([g,s,k],
                             inputs=['r'],
                             outputs=['y'],
@@ -1612,14 +1600,6 @@ def test_interconnect_unused_input():
         h = ct.interconnect([g,s,k],
                             connections=False)
 
-        #https://docs.pytest.org/en/6.2.x/warnings.html#recwarn
-        for r in record:
-            # strip out matrix warnings
-            if re.match(r'.*matrix subclass', str(r.message)):
-                continue
-            print(r.message)
-            pytest.fail(f'Unexpected warning: {r.message}')
-
 
     # warn if explicity ignored input in fact used
     with pytest.warns(
@@ -1674,7 +1654,11 @@ def test_interconnect_unused_output():
 
 
     # no warning if output explicitly ignored
-    with pytest.warns(None) as record:
+    with warnings.catch_warnings():
+        warnings.simplefilter("error")
+        # strip out matrix warnings
+        warnings.filterwarnings("ignore", "the matrix subclass",
+                                category=PendingDeprecationWarning)
         h = ct.interconnect([g,s,k],
                             inputs=['r'],
                             outputs=['y'],
@@ -1689,14 +1673,6 @@ def test_interconnect_unused_output():
         h = ct.interconnect([g,s,k],
                             connections=False)
 
-        #https://docs.pytest.org/en/6.2.x/warnings.html#recwarn
-        for r in record:
-            # strip out matrix warnings
-            if re.match(r'.*matrix subclass', str(r.message)):
-                continue
-            print(r.message)
-            pytest.fail(f'Unexpected warning: {r.message}')
-
     # warn if explicity ignored output in fact used
     with pytest.warns(
             UserWarning,
diff --git a/control/tests/namedio_test.py b/control/tests/namedio_test.py
index 3a96203a8..4925e9790 100644
--- a/control/tests/namedio_test.py
+++ b/control/tests/namedio_test.py
@@ -10,6 +10,7 @@
 
 import re
 from copy import copy
+import warnings
 
 import numpy as np
 import control as ct
@@ -243,9 +244,12 @@ def test_duplicate_sysname():
     sys = ct.rss(4, 1, 1)
 
     # No warnings should be generated if we reuse an an unnamed system
-    with pytest.warns(None) as record:
+    with warnings.catch_warnings():
+        warnings.simplefilter("error")
+        # strip out matrix warnings
+        warnings.filterwarnings("ignore", "the matrix subclass",
+                                category=PendingDeprecationWarning)
         res = sys * sys
-    assert not any([type(msg) == UserWarning for msg in record])
 
     # Generate a warning if the system is named
     sys = ct.rss(4, 1, 1, name='sys')
diff --git a/control/tests/nyquist_test.py b/control/tests/nyquist_test.py
index b1aa00577..ddc69e7bb 100644
--- a/control/tests/nyquist_test.py
+++ b/control/tests/nyquist_test.py
@@ -8,6 +8,8 @@
 
 """
 
+import warnings
+
 import pytest
 import numpy as np
 import matplotlib.pyplot as plt
@@ -225,10 +227,11 @@ def test_nyquist_encirclements():
     sys = 1 / (s**2 + s + 1)
     with pytest.warns(UserWarning, match="encirclements was a non-integer"):
         count = ct.nyquist_plot(sys, omega_limits=[0.5, 1e3])
-    with pytest.warns(None) as records:
+    with warnings.catch_warnings():
+        warnings.simplefilter("error")
+        # strip out matrix warnings
         count = ct.nyquist_plot(
             sys, omega_limits=[0.5, 1e3], encirclement_threshold=0.2)
-    assert len(records) == 0
     plt.title("Non-integer number of encirclements [%g]" % count)
 
 
diff --git a/control/tests/optimal_test.py b/control/tests/optimal_test.py
index 1aa307b60..027b55c75 100644
--- a/control/tests/optimal_test.py
+++ b/control/tests/optimal_test.py
@@ -366,7 +366,7 @@ def test_optimal_logging(capsys):
     x0 = [-1, 1]
 
     # Solve it, with logging turned on (with warning due to mixed constraints)
-    with pytest.warns(sp.optimize.optimize.OptimizeWarning,
+    with pytest.warns(sp.optimize.OptimizeWarning,
                         match="Equality and inequality .* same element"):
         res = opt.solve_ocp(
             sys, time, x0, cost, input_constraint, terminal_cost=cost,
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index fe73ab4a9..ff712f849 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -1,7 +1,6 @@
 """timeresp_test.py - test time response functions"""
 
 from copy import copy
-from distutils.version import StrictVersion
 
 import numpy as np
 import pytest
@@ -521,8 +520,6 @@ def test_impulse_response_mimo(self, tsystem):
         _t, yy = impulse_response(sys, T=t, input=0)
         np.testing.assert_array_almost_equal(yy[:,0,:], yref_notrim, decimal=4)
 
-    @pytest.mark.skipif(StrictVersion(sp.__version__) < "1.3",
-                        reason="requires SciPy 1.3 or greater")
     @pytest.mark.parametrize("tsystem", ["siso_tf1"], indirect=True)
     def test_discrete_time_impulse(self, tsystem):
         # discrete time impulse sampled version should match cont time
@@ -998,9 +995,6 @@ def test_time_series_data_convention_2D(self, tsystem):
         [6,    2,    2,  False,  (2, 2, 8),  (2, 8)],
     ])
     def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
-        # Figure out if we have SciPy 1+
-        scipy0 = StrictVersion(sp.__version__) < '1.0'
-
         # Define the system
         if fcn == ct.tf and (nout > 1 or ninp > 1) and not slycot_check():
             pytest.skip("Conversion of MIMO systems to transfer functions "
@@ -1077,7 +1071,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
             assert yvec.shape == (8, )
 
         # For InputOutputSystems, also test input/output response
-        if isinstance(sys, ct.InputOutputSystem) and not scipy0:
+        if isinstance(sys, ct.InputOutputSystem):
             _, yvec = ct.input_output_response(sys, tvec, uvec, squeeze=squeeze)
             assert yvec.shape == shape2
 
@@ -1108,7 +1102,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
             assert yvec.shape == (sys.noutputs, 8)
 
         # For InputOutputSystems, also test input_output_response
-        if isinstance(sys, ct.InputOutputSystem) and not scipy0:
+        if isinstance(sys, ct.InputOutputSystem):
             _, yvec = ct.input_output_response(sys, tvec, uvec)
             if squeeze is not True or sys.noutputs > 1:
                 assert yvec.shape == (sys.noutputs, 8)
diff --git a/control/tests/xferfcn_test.py b/control/tests/xferfcn_test.py
index 79273f31b..894da5594 100644
--- a/control/tests/xferfcn_test.py
+++ b/control/tests/xferfcn_test.py
@@ -12,7 +12,7 @@
 from control import isctime, isdtime, sample_system, defaults
 from control.statesp import _convert_to_statespace
 from control.xferfcn import _convert_to_transfer_function
-from control.tests.conftest import slycotonly, nopython2, matrixfilter
+from control.tests.conftest import slycotonly, matrixfilter
 
 
 class TestXferFcn:
@@ -448,7 +448,6 @@ def test_call_siso(self, dt, omega, resp):
             np.testing.assert_allclose(sys.evalfr(omega), resp, atol=1e-3)
 
 
-    @nopython2
     def test_call_dtime(self):
         sys = TransferFunction([1., 3., 5], [1., 6., 2., -1], 0.1)
         np.testing.assert_array_almost_equal(sys(1j), -0.5 - 0.5j)
@@ -741,8 +740,7 @@ def test_indexing(self):
         "matarrayin",
         [pytest.param(np.array,
                       id="arrayin",
-                      marks=[nopython2,
-                             pytest.mark.skip(".__matmul__ not implemented")]),
+                      marks=[pytest.mark.skip(".__matmul__ not implemented")]),
          pytest.param(np.matrix,
                       id="matrixin",
                       marks=matrixfilter)],
diff --git a/doc/intro.rst b/doc/intro.rst
index 01fe81bd0..ce01aca15 100644
--- a/doc/intro.rst
+++ b/doc/intro.rst
@@ -36,7 +36,7 @@ Installation
 ============
 
 The `python-control` package can be installed using pip, conda or the
-standard distutils/setuptools mechanisms.  The package requires `numpy`_ and
+standard setuptools mechanisms.  The package requires `numpy`_ and
 `scipy`_, and the plotting routines require `matplotlib
 <https://matplotlib.org>`_.  In addition, some routines require the `slycot
 <https://github.com/python-control/Slycot>`_ library in order to implement
diff --git a/setup.py b/setup.py
index a8609148e..df3f8519d 100644
--- a/setup.py
+++ b/setup.py
@@ -42,7 +42,7 @@
     packages=find_packages(exclude=['benchmarks']),
     classifiers=[f for f in CLASSIFIERS.split('\n') if f],
     install_requires=['numpy',
-                      'scipy',
+                      'scipy>=1.3',
                       'matplotlib'],
     extras_require={
        'test': ['pytest', 'pytest-timeout'],