diff --git a/control/statefbk.py b/control/statefbk.py
index d996264ab..86813c520 100644
--- a/control/statefbk.py
+++ b/control/statefbk.py
@@ -150,7 +150,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
"""Place closed loop eigenvalues.
K = place_varga(A, B, p, dtime=False, alpha=None)
- Required Parameters
+ Parameters
----------
A : 2D array_like
Dynamics matrix
@@ -158,14 +158,10 @@ def place_varga(A, B, p, dtime=False, alpha=None):
Input matrix
p : 1D array_like
Desired eigenvalue locations
-
- Optional Parameters
- ---------------
- dtime : bool
+ dtime : bool, optional
False for continuous time pole placement or True for discrete time.
The default is dtime=False.
-
- alpha : double scalar
+ alpha : float, optional
If `dtime` is false then place_varga will leave the eigenvalues with
real part less than alpha untouched. If `dtime` is true then
place_varga will leave eigenvalues with modulus less than alpha
@@ -179,26 +175,27 @@ def place_varga(A, B, p, dtime=False, alpha=None):
K : 2D array (or matrix)
Gain such that A - B K has eigenvalues given in p.
- Algorithm
- ---------
+ See Also
+ --------
+ place, acker
+
+ Notes
+ -----
This function is a wrapper for the slycot function sb01bd, which
- implements the pole placement algorithm of Varga [1]. In contrast to the
+ implements the pole placement algorithm of Varga [1]_. In contrast to the
algorithm used by place(), the Varga algorithm can place multiple poles at
the same location. The placement, however, may not be as robust.
- [1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
- Control, Vol. AC-26, pp. 517-519, 1981.
+ References
+ ----------
+ .. [1] Varga A. "A Schur method for pole assignment." IEEE Trans. Automatic
+ Control, Vol. AC-26, pp. 517-519, 1981.
Examples
--------
>>> A = [[-1, -1], [0, 1]]
>>> B = [[0], [1]]
- >>> K = place_varga(A, B, [-2, -5])
-
- See Also
- --------
- place, acker
-
+ >>> K = ct.place_varga(A, B, [-2, -5])
"""
# Make sure that SLICOT is installed
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