rebase cleanup + remove unneeded spaces + header updates

Author: murrayrm

benchmarks/optestim_bench.py

@@ -64,7 +64,6 @@ def time_oep_minimizer_methods(minimizer_name, noise_name, initial_guess):
         initial_guess = (res.states, V)
     else:
         initial_guess = None
-        
 
     # Set up optimal estimation function using Gaussian likelihoods for cost
     traj_cost = opt.gaussian_likelihood_cost(sys, Rv, Rw)

control/canonical.py

@@ -189,7 +189,7 @@ def observable_form(xsys):
 
 
 def similarity_transform(xsys, T, timescale=1, inverse=False):
-    """Similarity transformation, with option time rescaling.
+    """Similarity transformation, with optional time rescaling.
 
     Transform a linear state space system to a new state space representation
     z = T x, or x = T z, where T is an invertible matrix.

control/config.py

@@ -335,10 +335,6 @@ def use_legacy_defaults(version):
     #
     reset_defaults()            # start from a clean slate
 
-    # Verions 0.10.2
-    if major == 0 and minor <= 10 and patch < 2:
-        set_defaults('iosys', repr_format='eval')
-
     # Version 0.9.2:
     if major == 0 and minor < 9 or (minor == 9 and patch < 2):
         from math import inf

control/ctrlutil.py

@@ -1,52 +1,17 @@
 # ctrlutil.py - control system utility functions
 #
-# Author: Richard M. Murray
-# Date: 24 May 09
-#
-# These are some basic utility functions that are used in the control
-# systems library and that didn't naturally fit anyplace else.
-#
-# Copyright (c) 2009 by California Institute of Technology
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in the
-#    documentation and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the California Institute of Technology nor
-#    the names of its contributors may be used to endorse or promote
-#    products derived from this software without specific prior
-#    written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CALTECH
-# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
-# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
-# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
-# SUCH DAMAGE.
-#
-# $Id$
+# Original author: Richard M. Murray
+# Creation date: 24 May 2009
+# Use `git shortlog -n -s ctrlutil.py` for full list of contributors
+
+"""Control system utility functions."""
 
 import math
 import warnings
 
 import numpy as np
 
-# Packages that we need access to
-from . import lti
+from .lti import LTI
 
 __all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']
 
@@ -96,7 +61,7 @@ def issys(obj):
     """
     warnings.warn("issys() is deprecated; use isinstance(obj, ct.LTI)",
                   FutureWarning, stacklevel=2)
-    return isinstance(obj, lti.LTI)
+    return isinstance(obj, LTI)
 
 def db2mag(db):
     """Convert a gain in decibels (dB) to a magnitude.

control/iosys.py

@@ -261,7 +261,7 @@ def __str__(self):
             out += f"\nStates ({self.nstates}): {self.state_labels}"
         out += self._dt_repr(separator="\n", space=" ")
         return out
-    
+
     def __repr__(self):
         return iosys_repr(self, format=self.repr_format)
 

control/modelsimp.py

@@ -1,10 +1,10 @@
 # modelsimp.py - tools for model simplification
 #
-# Author: Steve Brunton, Kevin Chen, Lauren Padilla
-# Date: 30 Nov 2010
-#
-"""This :mod:`modelsimp` modules contains routines for obtaining
-reduced order models for state space systems.
+# Original authors: Steve Brunton, Kevin Chen, Lauren Padilla
+# Creation date: 30 Nov 2010
+
+"""The :mod:`modelsimp` module contains routines for obtaining reduced
+order models for state space systems.
 
 """
 

control/passivity.py

@@ -1,7 +1,7 @@
 # passivity.py
 #
-# Author: Mark Yeatman
-#Date: July 17, 2022
+# Original author: Mark Yeatman
+# Creation date: July 17, 2022
 
 """
 Functions for passive control.

control/robust.py

@@ -1,7 +1,7 @@
 # robust.py - tools for robust control
 #
-# Author: Steve Brunton, Kevin Chen, Lauren Padilla
-# Date: 24 Dec 2010
+# Original authors: Steve Brunton, Kevin Chen, Lauren Padilla
+# Creation date: 24 Dec 2010
 
 """
 This file contains routines for obtaining reduced order models.