diff --git a/control/modelsimp.py b/control/modelsimp.py
index d2eadc4c3..be9949374 100644
--- a/control/modelsimp.py
+++ b/control/modelsimp.py
@@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):
# Set up the full problem
# Create matrix of (shifted) inputs
- UUT = np.zeros((p*m,(l)))
+ UUT = np.zeros((p*m, l))
for i in range(m):
# Shift previous column down and keep zeros at the top
- UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i]
+ UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]
# Truncate first t=0 or t=m time steps, transpose the problem for lsq
- YY = Ymat[:,t:].T
- UU = UUT[:,t:].T
+ YY = Ymat[:, t:].T
+ UU = UUT[:, t:].T
# Solve for the Markov parameters from YY = UU @ H.T
HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None)
H = HT.T/dt # scaling
- H = H.reshape(q,m,p) # output, time*input -> output, time, input
- H = H.transpose(0,2,1) # output, input, time
+ H = H.reshape(q, m, p) # output, time*input -> output, time, input
+ H = H.transpose(0, 2, 1) # output, input, time
# for siso return a 1D array instead of a 3D array
if q == 1 and p == 1:
diff --git a/control/tests/docstrings_test.py b/control/tests/docstrings_test.py
index 28bd0f38c..70a0cc3c1 100644
--- a/control/tests/docstrings_test.py
+++ b/control/tests/docstrings_test.py
@@ -39,7 +39,7 @@
control.ss2tf: '48ff25d22d28e7b396e686dd5eb58831',
control.tf: '53a13f4a7f75a31c81800e10c88730ef',
control.tf2ss: '086a3692659b7321c2af126f79f4bc11',
- control.markov: '753309de348132ef238e78ac756412c1',
+ control.markov: 'eda7c4635bbb863ae6659e574285d356',
control.gangof4: '0e52eb6cf7ce024f9a41f3ae3ebf04f7',
}
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