diff --git a/control/descfcn.py b/control/descfcn.py index 149db1bd2..cfcc02170 100644 --- a/control/descfcn.py +++ b/control/descfcn.py @@ -236,8 +236,8 @@ def describing_function_plot( given by the first value of the tuple and frequency given by the second value. - Example - ------- + Examples + -------- >>> H_simple = ct.tf([8], [1, 2, 2, 1]) >>> F_saturation = ct.descfcn.saturation_nonlinearity(1) >>> amp = np.linspace(1, 4, 10) diff --git a/control/freqplot.py b/control/freqplot.py index 05ae9da55..d34906855 100644 --- a/control/freqplot.py +++ b/control/freqplot.py @@ -589,8 +589,8 @@ def nyquist_plot( if `return_contour` is Tue. To obtain the Nyquist curve values, evaluate system(s) along contour. - Additional Parameters - --------------------- + Other Parameters + ---------------- arrows : int or 1D/2D array of floats, optional Specify the number of arrows to plot on the Nyquist curve. If an integer is passed. that number of equally spaced arrows will be diff --git a/control/iosys.py b/control/iosys.py index 2152092fc..a0d22a985 100644 --- a/control/iosys.py +++ b/control/iosys.py @@ -1618,6 +1618,10 @@ def input_output_response( number of states in the system, the initial condition will be padded with zeros. + t_eval : array-list, optional + List of times at which the time response should be computed. + Defaults to ``T``. + return_x : bool, optional If True, return the state vector when assigning to a tuple (default = False). See :func:`forced_response` for more details. @@ -2713,8 +2717,8 @@ def interconnect(syslist, connections=None, inplist=None, outlist=None, generated and if `True` then warnings are always generated. - Example - ------- + Examples + -------- >>> P = control.LinearIOSystem( >>> control.rss(2, 2, 2, strictly_proper=True), name='P') >>> C = control.LinearIOSystem(control.rss(2, 2, 2), name='C') @@ -2914,8 +2918,8 @@ def summing_junction( Linear input/output system object with no states and only a direct term that implements the summing junction. - Example - ------- + Examples + -------- >>> P = control.tf2io(ct.tf(1, [1, 0]), inputs='u', outputs='y') >>> C = control.tf2io(ct.tf(10, [1, 1]), inputs='e', outputs='u') >>> sumblk = control.summing_junction(inputs=['r', '-y'], output='e') diff --git a/control/lti.py b/control/lti.py index b87944cd0..1bc08229d 100644 --- a/control/lti.py +++ b/control/lti.py @@ -304,8 +304,12 @@ def damp(sys, doprint=True): poles: array Pole locations - Algorithm - --------- + See Also + -------- + pole + + Notes + ----- If the system is continuous, wn = abs(poles) Z = -real(poles)/poles. @@ -320,9 +324,6 @@ def damp(sys, doprint=True): wn = abs(s) Z = -real(s)/wn. - See Also - -------- - pole """ wn, damping, poles = sys.damp() if doprint: diff --git a/control/sisotool.py b/control/sisotool.py index d8db7b082..2b735c0af 100644 --- a/control/sisotool.py +++ b/control/sisotool.py @@ -285,7 +285,7 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r', Whether to create Sisotool interactive plot. Returns - ---------- + ------- closedloop : class:`StateSpace` system The closed-loop system using initial gains. diff --git a/control/statefbk.py b/control/statefbk.py index 97f314da5..c88b98c54 100644 --- a/control/statefbk.py +++ b/control/statefbk.py @@ -126,10 +126,6 @@ def place(A, B, p): -------- place_varga, acker - Notes - ----- - The return type for 2D arrays depends on the default class set for - state space operations. See :func:`~control.use_numpy_matrix`. """ from scipy.signal import place_poles diff --git a/doc/Makefile b/doc/Makefile index 3f372684c..b2f9eaeed 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -20,5 +20,5 @@ classes.pdf: classes.fig; fig2dev -Lpdf $< $@ # Catch-all target: route all unknown targets to Sphinx using the new # "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). -html pdf: Makefile $(FIGS) +html pdf clean: Makefile $(FIGS) @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/doc/conf.py b/doc/conf.py index e2210aeaa..961179119 100644 --- a/doc/conf.py +++ b/doc/conf.py @@ -30,7 +30,7 @@ # -- Project information ----------------------------------------------------- project = u'Python Control Systems Library' -copyright = u'2020, python-control.org' +copyright = u'2022, python-control.org' author = u'Python Control Developers' # Version information - read from the source code @@ -56,7 +56,7 @@ extensions = [ 'sphinx.ext.autodoc', 'sphinx.ext.todo', 'sphinx.ext.napoleon', 'sphinx.ext.intersphinx', 'sphinx.ext.imgmath', - 'sphinx.ext.autosummary', 'nbsphinx', + 'sphinx.ext.autosummary', 'nbsphinx', 'numpydoc', 'sphinx.ext.linkcode' ] # scan documents for autosummary directives and generate stub pages for each. @@ -139,6 +139,80 @@ # # html_sidebars = {} +# ----------------------------------------------------------------------------- +# Source code links (from numpy) +# ----------------------------------------------------------------------------- + +import inspect +from os.path import relpath, dirname + +def linkcode_resolve(domain, info): + """ + Determine the URL corresponding to Python object + """ + if domain != 'py': + return None + + modname = info['module'] + fullname = info['fullname'] + + submod = sys.modules.get(modname) + if submod is None: + return None + + obj = submod + for part in fullname.split('.'): + try: + obj = getattr(obj, part) + except Exception: + return None + + # strip decorators, which would resolve to the source of the decorator + # possibly an upstream bug in getsourcefile, bpo-1764286 + try: + unwrap = inspect.unwrap + except AttributeError: + pass + else: + obj = unwrap(obj) + + # Get the filename for the function + try: + fn = inspect.getsourcefile(obj) + except Exception: + fn = None + if not fn: + return None + + # Ignore re-exports as their source files are not within the numpy repo + module = inspect.getmodule(obj) + if module is not None and not module.__name__.startswith("control"): + return None + + try: + source, lineno = inspect.getsourcelines(obj) + except Exception: + lineno = None + + fn = relpath(fn, start=dirname(control.__file__)) + + if lineno: + linespec = "#L%d-L%d" % (lineno, lineno + len(source) - 1) + else: + linespec = "" + + base_url = "https://github.com/python-control/python-control/blob/" + if 'dev' in control.__version__ or 'post' in control.__version__: + return base_url + "main/control/%s%s" % (fn, linespec) + else: + return base_url + "%s/control/%s%s" % ( + control.__version__, fn, linespec) + +# Don't automaticall show all members of class in Methods & Attributes section +numpydoc_show_class_members = False + +# Don't create a Sphinx TOC for the lists of class methods and attributes +numpydoc_class_members_toctree = False # -- Options for HTMLHelp output --------------------------------------------- pFad - Phonifier reborn

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