diff --git a/.github/conda-env/test-env.yml b/.github/conda-env/test-env.yml
index cc91a1ade..a4944f768 100644
--- a/.github/conda-env/test-env.yml
+++ b/.github/conda-env/test-env.yml
@@ -6,6 +6,7 @@ dependencies:
   - pytest
   - pytest-cov
   - pytest-timeout
+  - pytest-xvfb
   - numpy
   - matplotlib
-  - scipy
\ No newline at end of file
+  - scipy
diff --git a/.github/workflows/control-slycot-src.yml b/.github/workflows/control-slycot-src.yml
index ffbeca3f9..2ce2a11dd 100644
--- a/.github/workflows/control-slycot-src.yml
+++ b/.github/workflows/control-slycot-src.yml
@@ -13,19 +13,8 @@ jobs:
         path: python-control
     - name: Set up Python
       uses: actions/setup-python@v2
-    - name: Install Python dependencies
-      run: |
-        # Set up conda
-        echo $CONDA/bin >> $GITHUB_PATH
-
-        # Set up (virtual) X11
-        sudo apt install -y xvfb
-
-        # Install test tools
-        conda install pip pytest pytest-timeout
-
-        # Install python-control dependencies
-        conda install numpy matplotlib scipy
+    - name: Install Python dependencies and test tools
+      run: pip install -v -e './python-control[test]'
 
     - name: Checkout Slycot
       uses: actions/checkout@v3
@@ -43,11 +32,10 @@ jobs:
         # Install compilers, libraries, and development environment
         sudo apt-get -y install gfortran cmake --fix-missing
         sudo apt-get -y install libblas-dev liblapack-dev
-        conda install -c conda-forge scikit-build setuptools-scm
 
         # Compile and install slycot
-        pip install -v --no-build-isolation --no-deps .
+        pip install -v .
 
     - name: Test with pytest
       working-directory: python-control
-      run: xvfb-run --auto-servernum pytest control/tests
+      run: pytest -v control/tests
diff --git a/.github/workflows/install_examples.yml b/.github/workflows/install_examples.yml
index b36ff3e7f..84cd706f5 100644
--- a/.github/workflows/install_examples.yml
+++ b/.github/workflows/install_examples.yml
@@ -1,4 +1,4 @@
-name: setup.py, examples
+name: Setup, Examples, Notebooks
 
 on: [push, pull_request]
 
@@ -7,26 +7,23 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
-    - name: Set up Python
-      uses: actions/setup-python@v2
-    - name: Install Python dependencies
+    - uses: actions/checkout@v3
+    - name: Install Python dependencies from conda-forge
       run: |
-        # Set up conda
+        # Set up conda using the preinstalled GHA Miniconda environment
         echo $CONDA/bin >> $GITHUB_PATH
+        conda config --add channels conda-forge
+        conda config --set channel_priority strict
 
-        # Set up (virtual) X11
-        sudo apt install -y xvfb
+        # Install build tools
+        conda install pip setuptools setuptools-scm
 
-        # Install test tools
-        conda install pip pytest
+        # Install python-control dependencies and extras
+        conda install numpy matplotlib scipy
+        conda install slycot pmw jupyter
 
-        # Install python-control dependencies
-        conda install numpy matplotlib scipy jupyter
-        conda install -c conda-forge slycot pmw
-
-    - name: Install with setup.py
-      run: python setup.py install
+    - name: Install from source
+      run: pip install .
 
     - name: Run examples
       run: |
diff --git a/.github/workflows/python-package-conda.yml b/.github/workflows/python-package-conda.yml
index 4e287b45a..ae889fd05 100644
--- a/.github/workflows/python-package-conda.yml
+++ b/.github/workflows/python-package-conda.yml
@@ -8,30 +8,32 @@ jobs:
       Py${{ matrix.python-version }};
       ${{ matrix.slycot || 'no' }} Slycot;
       ${{ matrix.pandas || 'no' }} Pandas;
-      ${{ matrix.cvxopt || 'no' }} CVXOPT;
+      ${{ matrix.cvxopt || 'no' }} CVXOPT
       ${{ matrix.array-and-matrix == 1 && '; array and matrix' || '' }}
+      ${{ matrix.mplbackend && format('; {0}', matrix.mplbackend) }}
     runs-on: ubuntu-latest
 
     strategy:
       max-parallel: 5
+      fail-fast: false
       matrix:
-        python-version: [3.7, 3.9]
+        python-version: ['3.7', '3.10']
         slycot: ["", "conda"]
         pandas: [""]
         cvxopt: ["", "conda"]
+        mplbackend: [""]
         array-and-matrix: [0]
         include:
-          - python-version: 3.9
+          - python-version: '3.10'
             slycot: conda
             pandas: conda
+            cvxopt: conda
+            mplbackend: QtAgg
             array-and-matrix: 1
 
     steps:
     - uses: actions/checkout@v3
 
-    - name: Set up (virtual) X11
-      run:  sudo apt install -y xvfb
-
     - name: Setup Conda
       uses: conda-incubator/setup-miniconda@v2
       with:
@@ -55,15 +57,15 @@ jobs:
           mamba install pandas
         fi
         if [[ '${{matrix.cvxopt}}' == 'conda' ]]; then
-          mamba install  cvxopt
+          mamba install cvxopt
         fi
 
     - name: Test with pytest
       shell: bash -l {0}
       env:
         PYTHON_CONTROL_ARRAY_AND_MATRIX: ${{ matrix.array-and-matrix }}
-      run: |
-        xvfb-run --auto-servernum pytest --cov=control --cov-config=.coveragerc control/tests
+        MPLBACKEND: ${{ matrix.mplbackend }}
+      run: pytest -v --cov=control --cov-config=.coveragerc control/tests
 
     - name: Coveralls parallel
       # https://github.com/coverallsapp/github-action
diff --git a/README.rst b/README.rst
index f1feda7c5..7e2058293 100644
--- a/README.rst
+++ b/README.rst
@@ -97,17 +97,14 @@ To install using pip::
 If you install Slycot using pip you'll need a development environment
 (e.g., Python development files, C and Fortran compilers).
 
-Distutils
----------
+Installing from source
+----------------------
 
-To install in your home directory, use::
+To install from source, get the source code of the desired branch or release
+from the github repository or archive, unpack, and run from within the
+toplevel `python-control` directory::
 
-  python setup.py install --user
-
-To install for all users (on Linux or Mac OS)::
-
-  python setup.py build
-  sudo python setup.py install
+  pip install .
 
 
 Development
diff --git a/control/tests/config_test.py b/control/tests/config_test.py
index 295c68bdd..c36f67280 100644
--- a/control/tests/config_test.py
+++ b/control/tests/config_test.py
@@ -8,7 +8,6 @@
 from math import pi, log10
 
 import matplotlib.pyplot as plt
-from matplotlib.testing.decorators import cleanup as mplcleanup
 import numpy as np
 import pytest
 
@@ -18,7 +17,6 @@
 @pytest.mark.usefixtures("editsdefaults")  # makes sure to reset the defaults
                                            # to the test configuration
 class TestConfig:
-
     # Create a simple second order system to use for testing
     sys = ct.tf([10], [1, 2, 1])
 
@@ -28,8 +26,7 @@ def test_set_defaults(self):
         assert ct.config.defaults['freqplot.deg'] == 2
         assert ct.config.defaults['freqplot.Hz'] is None
 
-    @mplcleanup
-    def test_get_param(self):
+    def test_get_param(self, mplcleanup):
         assert ct.config._get_param('freqplot', 'dB')\
             == ct.config.defaults['freqplot.dB']
         assert ct.config._get_param('freqplot', 'dB', 1) == 1
@@ -92,8 +89,7 @@ def test_default_deprecation(self):
             assert ct.config.defaults['bode.Hz'] \
                 == ct.config.defaults['freqplot.Hz']
 
-    @mplcleanup
-    def test_fbs_bode(self):
+    def test_fbs_bode(self, mplcleanup):
         ct.use_fbs_defaults()
 
         # Generate a Bode plot
@@ -137,8 +133,7 @@ def test_fbs_bode(self):
         phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_matlab_bode(self):
+    def test_matlab_bode(self, mplcleanup):
         ct.use_matlab_defaults()
 
         # Generate a Bode plot
@@ -182,8 +177,7 @@ def test_matlab_bode(self):
         phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_custom_bode_default(self):
+    def test_custom_bode_default(self, mplcleanup):
         ct.config.defaults['freqplot.dB'] = True
         ct.config.defaults['freqplot.deg'] = True
         ct.config.defaults['freqplot.Hz'] = True
@@ -204,8 +198,7 @@ def test_custom_bode_default(self):
         np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
         np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
 
-    @mplcleanup
-    def test_bode_number_of_samples(self):
+    def test_bode_number_of_samples(self, mplcleanup):
         # Set the number of samples (default is 50, from np.logspace)
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
         assert len(mag_ret) == 87
@@ -219,8 +212,7 @@ def test_bode_number_of_samples(self):
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
         assert len(mag_ret) == 87
 
-    @mplcleanup
-    def test_bode_feature_periphery_decade(self):
+    def test_bode_feature_periphery_decade(self, mplcleanup):
         # Generate a sample Bode plot to figure out the range it uses
         ct.reset_defaults()     # Make sure starting state is correct
         mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
diff --git a/control/tests/conftest.py b/control/tests/conftest.py
index 1201b8746..3f798f26c 100644
--- a/control/tests/conftest.py
+++ b/control/tests/conftest.py
@@ -1,13 +1,11 @@
 """conftest.py - pytest local plugins and fixtures"""
 
 import os
-import sys
 from contextlib import contextmanager
 
 import matplotlib as mpl
 import numpy as np
 import pytest
-import scipy as sp
 
 import control
 
@@ -45,7 +43,7 @@ def control_defaults():
                 params=[pytest.param("arrayout", marks=matrixerrorfilter),
                         pytest.param("matrixout", marks=matrixfilter)])
 def matarrayout(request):
-    """Switch the config to use np.ndarray and np.matrix as returns"""
+    """Switch the config to use np.ndarray and np.matrix as returns."""
     restore = control.config.defaults['statesp.use_numpy_matrix']
     control.use_numpy_matrix(request.param == "matrixout", warn=False)
     yield
@@ -53,7 +51,7 @@ def matarrayout(request):
 
 
 def ismatarrayout(obj):
-    """Test if the returned object has the correct type as configured
+    """Test if the returned object has the correct type as configured.
 
     note that isinstance(np.matrix(obj), np.ndarray) is True
     """
@@ -63,7 +61,7 @@ def ismatarrayout(obj):
 
 
 def asmatarrayout(obj):
-    """Return a object according to the configured default"""
+    """Return a object according to the configured default."""
     use_matrix = control.config.defaults['statesp.use_numpy_matrix']
     matarray = np.asmatrix if use_matrix else np.asarray
     return matarray(obj)
@@ -71,7 +69,7 @@ def asmatarrayout(obj):
 
 @contextmanager
 def check_deprecated_matrix():
-    """Check that a call produces a deprecation warning because of np.matrix"""
+    """Check that a call produces a deprecation warning because of np.matrix."""
     use_matrix = control.config.defaults['statesp.use_numpy_matrix']
     if use_matrix:
         with pytest.deprecated_call():
@@ -94,13 +92,13 @@ def check_deprecated_matrix():
                           False)]
                         if usebydefault or TEST_MATRIX_AND_ARRAY])
 def matarrayin(request):
-    """Use array and matrix to construct input data in tests"""
+    """Use array and matrix to construct input data in tests."""
     return request.param
 
 
 @pytest.fixture(scope="function")
 def editsdefaults():
-    """Make sure any changes to the defaults only last during a test"""
+    """Make sure any changes to the defaults only last during a test."""
     restore = control.config.defaults.copy()
     yield
     control.config.defaults = restore.copy()
diff --git a/control/tests/rlocus_test.py b/control/tests/rlocus_test.py
index a0ecebb15..4fbe70c4f 100644
--- a/control/tests/rlocus_test.py
+++ b/control/tests/rlocus_test.py
@@ -85,6 +85,8 @@ def test_root_locus_neg_false_gain_nonproper(self):
 
     # TODO: cover and validate negative false_gain branch in _default_gains()
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     def test_root_locus_zoom(self):
         """Check the zooming functionality of the Root locus plot"""
         system = TransferFunction([1000], [1, 25, 100, 0])
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
index d5e9dd013..a1f468eea 100644
--- a/control/tests/sisotool_test.py
+++ b/control/tests/sisotool_test.py
@@ -46,6 +46,8 @@ def sys221(self):
         D221 = [[1., -1.]]
         return StateSpace(A222, B222, C221, D221)
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     def test_sisotool(self, tsys):
         sisotool(tsys, Hz=False)
         fig = plt.gcf()
@@ -114,6 +116,8 @@ def test_sisotool(self, tsys):
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
+    @pytest.mark.skipif(plt.get_current_fig_manager().toolbar is None,
+                        reason="Requires the zoom toolbar")
     @pytest.mark.parametrize('tsys', [0, True],
                              indirect=True, ids=['ctime', 'dtime'])
     def test_sisotool_tvect(self, tsys):
diff --git a/make_version.py b/make_version.py
deleted file mode 100644
index 356f4d747..000000000
--- a/make_version.py
+++ /dev/null
@@ -1,58 +0,0 @@
-# make_version.py - generate version information
-#
-# Author: Clancy Rowley
-# Date: 2 Apr 2015
-# Modified: Richard M. Murray, 28 Dec 2017
-#
-# This script is used to create the version information for the python-
-# control package.  The version information is now generated directly from
-# tags in the git repository.  Now, *before* running setup.py, one runs
-#
-#   python make_version.py
-#
-# and this generates a file with the version information.  This is copied
-# from binstar (https://github.com/Binstar/binstar) and seems to work well.
-#
-# The original version of this script also created version information for
-# conda, but this stopped working when conda v3 was released.  Instead, we
-# now use jinja templates in conda-recipe to create the conda information.
-# The current version information is used in setup.py, control/__init__.py,
-# and doc/conf.py (for sphinx).
-
-from subprocess import check_output
-import os
-
-def main():
-    cmd = 'git describe --always --long'
-    # describe --long usually outputs "tag-numberofcommits-commitname"
-    output = check_output(cmd.split()).decode('utf-8').strip().rsplit('-',2)
-    if len(output) == 3:
-        version, build, commit = output
-    else:
-        # If the clone is shallow, describe's output won't have tag and
-        # number of commits.  This is a particular issue on Travis-CI,
-        # which by default clones with a depth of 50.
-        # This behaviour isn't well documented in git-describe docs,
-        # but see, e.g., https://stackoverflow.com/a/36389573/1008142
-        # and https://github.com/travis-ci/travis-ci/issues/3412
-        version = 'unknown'
-        build = 'unknown'
-        # we don't ever expect just one dash from describe --long, but
-        # just in case:
-        commit = '-'.join(output)
-
-    print("Version: %s" % version)
-    print("Build: %s" % build)
-    print("Commit: %s\n" % commit)
-
-    filename = "control/_version.py"
-    print("Writing %s" % filename)
-    with open(filename, 'w') as fd:
-        if build == '0':
-            fd.write('__version__ = "%s"\n' % (version))
-        else:
-            fd.write('__version__ = "%s.post%s"\n' % (version, build))
-        fd.write('__commit__ = "%s"\n' % (commit))
-
-if __name__ == '__main__':
-    main()
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 000000000..89690ac8d
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,58 @@
+[build-system]
+requires = [
+    "setuptools",
+    "setuptools-scm",
+    "wheel"
+]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "control"
+description = "Python Control Systems Library"
+authors = [{name = "Python Control Developers", email = "python-control-developers@lists.sourceforge.net"}]
+license = {text = "BSD-3-Clause"}
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Intended Audience :: Science/Research",
+    "Intended Audience :: Developers",
+    "License :: OSI Approved :: BSD License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Topic :: Software Development",
+    "Topic :: Scientific/Engineering",
+    "Operating System :: Microsoft :: Windows",
+    "Operating System :: POSIX",
+    "Operating System :: Unix",
+    "Operating System :: MacOS",
+]
+requires-python = ">=3.7"
+dependencies = [
+    "numpy",
+    "scipy>=1.3",
+    "matplotlib",
+]
+dynamic = ["version"]
+
+[tool.setuptools]
+packages = ["control"]
+
+[project.optional-dependencies]
+test = ["pytest", "pytest-timeout"]
+slycot = [ "slycot>=0.4.0" ]
+cvxopt = [ "cvxopt>=1.2.0" ]
+
+[project.urls]
+homepage = "https//python-control.org"
+source = "https://github.com/python-control/python-control"
+
+[tool.setuptools_scm]
+write_to = "control/_version.py"
+
+[tool.pytest.ini_options]
+addopts = "-ra"
+filterwarnings = [
+    "error:.*matrix subclass:PendingDeprecationWarning",
+]
diff --git a/setup.cfg b/setup.cfg
deleted file mode 100644
index 5b1ce28a7..000000000
--- a/setup.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-[bdist_wheel]
-universal=1
-
-[tool:pytest]
-addopts = -ra
-filterwarnings =
-    error:.*matrix subclass:PendingDeprecationWarning
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 2021d5eb9..000000000
--- a/setup.py
+++ /dev/null
@@ -1,52 +0,0 @@
-from setuptools import setup, find_packages
-
-ver = {}
-try:
-    with open('control/_version.py') as fd:
-        exec(fd.read(), ver)
-    version = ver.get('__version__', 'dev')
-except IOError:
-    version = 'dev'
-
-with open('README.rst') as fp:
-    long_description = fp.read()
-
-CLASSIFIERS = """
-Development Status :: 3 - Alpha
-Intended Audience :: Science/Research
-Intended Audience :: Developers
-License :: OSI Approved :: BSD License
-Programming Language :: Python :: 3
-Programming Language :: Python :: 3.7
-Programming Language :: Python :: 3.8
-Programming Language :: Python :: 3.9
-Topic :: Software Development
-Topic :: Scientific/Engineering
-Operating System :: Microsoft :: Windows
-Operating System :: POSIX
-Operating System :: Unix
-Operating System :: MacOS
-"""
-
-setup(
-    name='control',
-    version=version,
-    author='Python Control Developers',
-    author_email='python-control-developers@lists.sourceforge.net',
-    url='http://python-control.org',
-    project_urls={
-        'Source': 'https://github.com/python-control/python-control',
-    },
-    description='Python Control Systems Library',
-    long_description=long_description,
-    packages=find_packages(exclude=['benchmarks']),
-    classifiers=[f for f in CLASSIFIERS.split('\n') if f],
-    install_requires=['numpy',
-                      'scipy>=1.3',
-                      'matplotlib'],
-    extras_require={
-       'test': ['pytest', 'pytest-timeout'],
-       'slycot': [ 'slycot>=0.4.0' ],
-       'cvxopt': [ 'cvxopt>=1.2.0' ]
-    }
-)