documentation updates for 0.10.2 release

murrayrm · murrayrm · commit dd3d4d0e4f23 · 2025-07-04T22:51:54.000-04:00
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/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/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/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
 =================
