fix up warnings in make html, make doctest, pytest

Author: murrayrm

control/statesp.py

@@ -1213,18 +1213,19 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         ----------
         Ts : float
             Sampling period.
-        method :  {"gbt", "bilinear", "euler", "backward_diff", "zoh"}
-            Which method to use:
-
-            * gbt: generalized bilinear transformation
-            * bilinear: Tustin's approximation ("gbt" with alpha=0.5)
-            * euler: Euler (or forward differencing) method ("gbt" with
+        method : {'gbt', 'bilinear', 'euler', 'backward_diff', 'zoh'}
+            Method to use for sampling:
+
+            * 'gbt': generalized bilinear transformation
+            * 'backward_diff': Backwards differencing ('gbt' with alpha=1.0)
+            * 'bilinear' (or 'tustin'): Tustin's approximation ('gbt' with
+              alpha=0.5)
+            * 'euler': Euler (or forward differencing) method ('gbt' with
               alpha=0)
-            * backward_diff: Backwards differencing ("gbt" with alpha=1.0)
-            * zoh: zero-order hold (default)
+            * 'zoh': zero-order hold (default)
         alpha : float within [0, 1]
             The generalized bilinear transformation weighting parameter, which
-            should only be specified with method="gbt", and is ignored
+            should only be specified with method='gbt', and is ignored
             otherwise.
         prewarp_frequency : float within [0, infinity)
             The frequency [rad/s] at which to match with the input continuous-
@@ -1523,8 +1524,7 @@ def ss(*args, **kwargs):
         systems, `B` and `C` can be given as 1D arrays and D can be given
         as a scalar.
 
-    ``ss(*args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'],
-    states=['x1', ..., 'xn'])``
+    `ss(*args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])`
         Create a system with named input, output, and state signals.
 
     Parameters

control/xferfcn.py

@@ -773,7 +773,7 @@ def __getitem__(self, key):
             indices[0], self.output_labels, slice_to_list=True)
         inpdx, inputs = _process_subsys_index(
             indices[1], self.input_labels, slice_to_list=True)
-        
+
         # Construct the transfer function for the subsyste
         num = _create_poly_array((len(outputs), len(inputs)))
         den = _create_poly_array(num.shape)
@@ -1114,15 +1114,17 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         ----------
         Ts : float
             Sampling period.
-        method : {"gbt", "bilinear", "euler", "backward_diff",
-                  "zoh", "matched"}
+        method : {'gbt', 'bilinear', 'euler', 'backward_diff', 'zoh', 'matched'}
             Method to use for sampling:
 
-            * gbt: generalized bilinear transformation
-            * bilinear or tustin: Tustin's approximation ("gbt" with alpha=0.5)
-            * euler: Euler (or forward difference) method ("gbt" with alpha=0)
-            * backward_diff: Backwards difference ("gbt" with alpha=1.0)
-            * zoh: zero-order hold (default)
+            * 'gbt': generalized bilinear transformation
+            * 'backward_diff': Backwards differencing ('gbt' with alpha=1.0)
+            * 'bilinear' (or 'tustin'): Tustin's approximation ('gbt' with
+              alpha=0.5)
+            * 'euler': Euler (or forward differencing) method ('gbt' with
+              alpha=0)
+            * 'matched': pole-zero match method
+            * 'zoh': zero-order hold (default)
         alpha : float within [0, 1]
             The generalized bilinear transformation weighting parameter, which
             should only be specified with method="gbt", and is ignored

doc/Makefile

@@ -24,5 +24,4 @@ clean:
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
 distclean: clean
-	make -C figures clean
 	/bin/rm -rf generated

doc/config.rst

@@ -10,11 +10,11 @@ for various types of plots and establishing the underlying representation for
 state space matrices.
 
 To set the default value of a configuration variable, set the appropriate
-element of the `control.config.defaults` dictionary::
+element of the `config.defaults` dictionary::
 
     ct.config.defaults['module.parameter'] = value
 
-The :func:`~control.set_defaults` function can also be used to
+The :func:`set_defaults` function can also be used to
 set multiple configuration parameters at the same time::
 
     ct.set_defaults('module', param1=val1, param2=val2, ...]

doc/descfcn.rst

@@ -1,5 +1,7 @@
 .. _descfcn-module:
 
+.. currentmodule:: control
+
 Describing functions
 ====================
 
@@ -29,7 +31,7 @@ because it assumes that higher harmonics can be neglected.
 Module usage
 ------------
 
-The function :func:`~control.describing_function` can be used to
+The function :func:`describing_function` can be used to
 compute the describing function of a nonlinear function::
 
   N = ct.describing_function(F, A)
@@ -44,15 +46,15 @@ amplitudes :math:`a` and frequencies :math`\omega` such that
 These points can be determined by generating a Nyquist plot in which
 the transfer function :math:`H(j\omega)` intersections the negative
 reciprocal of the describing function :math:`N(A)`.  The
-:func:`~control.describing_function_response` function computes the
+:func:`describing_function_response` function computes the
 amplitude and frequency of any points of intersection::
 
     response = ct.describing_function_response(H, F, amp_range[, omega_range])
     response.intersections	# frequency, amplitude pairs
 
 A Nyquist plot showing the describing function and the intersections
 with the Nyquist curve can be generated using `response.plot()`, which
-calls the :func:`~control.describing_function_plot` function.
+calls the :func:`describing_function_plot` function.
 
 
 Pre-defined nonlinearities
@@ -76,15 +78,15 @@ nonlinearity::
   F = ct.saturation_nonlinearity(1)
 
 These functions use the
-:class:`~control.DescribingFunctionNonlinearity`, which allows an
+:class:`DescribingFunctionNonlinearity`, which allows an
 analytical description of the describing function.
 
 Module classes and functions
 ----------------------------
 .. autosummary::
    :template: custom-class-template.rst
 
-   ~control.DescribingFunctionNonlinearity
-   ~control.friction_backlash_nonlinearity
-   ~control.relay_hysteresis_nonlinearity
-   ~control.saturation_nonlinearity
+   DescribingFunctionNonlinearity
+   friction_backlash_nonlinearity
+   relay_hysteresis_nonlinearity
+   saturation_nonlinearity

doc/flatsys.rst

@@ -110,8 +110,8 @@ Module usage
 ============
 
 To create a trajectory for a differentially flat system, a
-:class:`~control.flatsys.FlatSystem` object must be created.  This is done
-using the :func:`~control.flatsys.flatsys` function:
+:class:`~flatsys.FlatSystem` object must be created.  This is done
+using the :func:`~flatsys.flatsys` function:
 
     import control.flatsys as fs
     sys = fs.flatsys(forward, reverse)
@@ -120,12 +120,12 @@ The `forward` and `reverse` parameters describe the mappings between the
 system state/input and the differentially flat outputs and their
 derivatives ("flat flag").
 
-The :func:`~control.flatsys.FlatSystem.forward` method computes the
+The :func:`~flatsys.FlatSystem.forward` method computes the
 flat flag given a state and input:
 
     zflag = sys.forward(x, u)
 
-The :func:`~control.flatsys.FlatSystem.reverse` method computes the state
+The :func:`~flatsys.FlatSystem.reverse` method computes the state
 and input given the flat flag:
 
     x, u = sys.reverse(zflag)
@@ -139,11 +139,11 @@ The number of flat outputs must match the number of system inputs.
 
 For a linear system, a flat system representation can be generated by
 passing a :class:`~control.StateSpace` system to the
-:func:`~control.flatsys.flatsys` factory function::
+:func:`~flatsys.flatsys` factory function::
 
     sys = fs.flatsys(linsys)
 
-The :func:`~control.flatsys.flatsys` function also supports the use of
+The :func:`~flatsys.flatsys` function also supports the use of
 named input, output, and state signals::
 
     sys = fs.flatsys(
@@ -153,23 +153,23 @@ In addition to the flat system description, a set of basis functions
 :math:`\phi_i(t)` must be chosen.  The `FlatBasis` class is used to
 represent the basis functions.  A polynomial basis function of the
 form 1, :math:`t`, :math:`t^2`, ... can be computed using the
-:class:`~control.flatsys.PolyFamily` class, which is initialized by
+:class:`~flatsys.PolyFamily` class, which is initialized by
 passing the desired order of the polynomial basis set::
 
     basis = fs.PolyFamily(N)
 
 Additional basis function families include Bezier curves
-(:class:`~control.flatsys.BezierFamily`) and B-splines
-(:class:`~control.flatsys.BSplineFamily`).
+(:class:`~flatsys.BezierFamily`) and B-splines
+(:class:`~flatsys.BSplineFamily`).
 
 Once the system and basis function have been defined, the
-:func:`~control.flatsys.point_to_point` function can be used to compute a
+:func:`~flatsys.point_to_point` function can be used to compute a
 trajectory between initial and final states and inputs::
 
     traj = fs.point_to_point(
         sys, Tf, x0, u0, xf, uf, basis=basis)
 
-The returned object has class :class:`~control.flatsys.SystemTrajectory` and
+The returned object has class :class:`~flatsys.SystemTrajectory` and
 can be used to compute the state and input trajectory between the initial and
 final condition::
 
@@ -178,11 +178,11 @@ final condition::
 where `T` is a list of times on which the trajectory should be evaluated
 (e.g., `T = numpy.linspace(0, Tf, M)`.
 
-The :func:`~control.flatsys.point_to_point` function also allows the
+The :func:`~flatsys.point_to_point` function also allows the
 specification of a cost function and/or constraints, in the same
 format as :func:`~control.optimal.solve_ocp`.
 
-The :func:`~control.flatsys.solve_flat_ocp` function can be used to
+The :func:`~flatsys.solve_flat_ocp` function can be used to
 solve an optimal control problem without a final state::
 
     traj = fs.solve_flat_ocp(
@@ -311,19 +311,21 @@ cost:`
 Module classes and functions
 ============================
 
+.. currentmodule:: control
+
 .. autosummary::
    :template: custom-class-template.rst
 
-   ~control.flatsys.BasisFamily
-   ~control.flatsys.BezierFamily
-   ~control.flatsys.BSplineFamily
-   ~control.flatsys.FlatSystem
-   ~control.flatsys.LinearFlatSystem
-   ~control.flatsys.PolyFamily
-   ~control.flatsys.SystemTrajectory
+   flatsys.BasisFamily
+   flatsys.BezierFamily
+   flatsys.BSplineFamily
+   flatsys.FlatSystem
+   flatsys.LinearFlatSystem
+   flatsys.PolyFamily
+   flatsys.SystemTrajectory
 
 .. autosummary::
 
-   ~control.flatsys.flatsys
-   ~control.flatsys.point_to_point
-   ~control.flatsys.solve_flat_ocp
+   flatsys.flatsys
+   flatsys.point_to_point
+   flatsys.solve_flat_ocp

doc/freqresp.rst

@@ -58,6 +58,7 @@ System interconnections
     append
     combine_tf
     split_tf
+    summing_junction
     connection_table
 
 Time domain simulation
@@ -108,7 +109,6 @@ Control system analysis
     bandwidth
     damp
     dcgain
-    describing_function
     get_input_ff_index
     get_output_fb_index
     ispassive
@@ -128,8 +128,7 @@ Control system analysis
     singular_values_plot
     singular_values_response
     sisotool
-    StateSpace.__call__
-    TransferFunction.__call__
+
 
 Control system synthesis
 ========================
@@ -138,7 +137,6 @@ Control system synthesis
 
     acker
     create_statefbk_iosystem
-    create_estimator_iosystem
     dlqr
     h2syn
     hinfsyn
@@ -165,12 +163,8 @@ Nonlinear system support
 .. autosummary::
    :toctree: generated/
 
-    describing_function
     find_operating_point
     linearize
-    input_output_response
-    summing_junction
-    flatsys.point_to_point
 
 Stochastic system support
 =========================
@@ -207,6 +201,7 @@ Describing functions
 .. autosummary::
    :toctree: generated/
 
+   describing_function
    friction_backlash_nonlinearity
    relay_hysteresis_nonlinearity
    saturation_nonlinearity

doc/functions.rst

@@ -14,6 +14,7 @@ Package overview
    :no-members:
    :no-inherited-members:
    :no-special-members:
+   :no-index:
 
 Installation
 ============

doc/intro.rst

@@ -1,4 +1,4 @@
-.. module:: control
+.. currentmodule:: control
 
 ********************************************
 Linear System Modeling, Analysis, and Design