Release notes from python-control

0.10.2

2025-07-05T21:10:31Z

What's Changed

Upgrade GitHub action dependencies: upload-artifact, download-artifact by @slivingston in #1046
Improve code style, markov by @KybernetikJo in #1051
Improve code style, era by @KybernetikJo in #1050
Update find_eqpt to find_operating_point, adding root_method + better docs by @murrayrm in #1054
fix phase plot lines output by @murrayrm in #1066
allow root locus maps with only 1 point by @murrayrm in #1065
fix timebase processing in frd, zpk by @murrayrm in #1064
sort loci in PoleZeroData by @murrayrm in #1070
Allow signal names to be used for time/freq responses and subsystem indexing by @murrayrm in #1069
Add combine() and split() functions for transfer matrices by @sdahdah in #1073
add reference gain design pattern to create_statefbk_iosystem by @murrayrm in #1071
update model_reduction to allow input/output selection + unstable warning (vs exception) by @murrayrm in #1074
fix issue with multiplying MIMO LTI system by scalar by @murrayrm in #1078
update GitHub Actions to use miniforge v3 (fixes mambaforge deprecation) by @murrayrm in #1079
CI: Remove MKL form macOS tests, Fix Ubuntu openBLAS install by @bnavigator in #1083
Replace mamba with conda again by @bnavigator in #1085
fix complex -> real error messages by @murrayrm in #1086
Fix TimeResponseData.to_pandas() for multi-trace responses by @murrayrm in #1088
I/O system enhancements by @murrayrm in #1082
Add aliases of selected functions as member functions to LTI by @lkies in #1092
Update I/O system repr() and str() by @murrayrm in #1091
Update nyquist_plot to call nyquist_response correctly by @murrayrm in #1096
ctrb treats ndim=1 B correctly; ctrb & obsv check input shapes by @roryyorke in #1099
Support for binary operations between MIMO and SISO LTI systems by @sdahdah in #1081
Add test for Nyquist evaluation at a pole by @murrayrm in #1104
Fix typo in statefbk.py by @jesseishi in #1107
Turn off warn_infinite for phase_crossover_frequencies() calculation by @murrayrm in #1106
scipy-based implementation of ss2tf by @murrayrm in #1108
Handle scalar timeresp in solve_flat_ocp by @roryyorke in #1111
Update _ssmatrix and _check_shape for consistent usage by @murrayrm in #1116
Move _tf_close_coeff back to testing realm and make better use of assertion messages by @bnavigator in #1109
Lint library code only with ruff check by @roryyorke in #1118
Updated documentation by @murrayrm in #1094
add information on _ssmatrix, _check_shape by @murrayrm in #1120
Fix missing plot title in bode_plot() with display_margins by @murrayrm in #1121
update use/computation of sys._isstatic() by @murrayrm in #1117
Uniform processing of time response and optimization parameters by @murrayrm in #1125
Use matplotlibs streamplot function for phase_plane_plot by @lkies in #1112
Silence warning from Conda in Github Actions by @roryyorke in #1128
CI: explicitly include defaults channel by @slivingston in #1129
Lint tests by @roryyorke in #1127
Fix CI doctest, install-examples by @roryyorke in #1137
Fix Latex not being rendered in HTML output in VSCode by @lkies in #1133
Fix color cycling not working in singular_values_plot by @lkies in #1138
Lint fixes on benchmarks and examples/*.py by @roryyorke in #1135
Add type error checks, unit tests, documentation for real-valued systems by @murrayrm in #1142
fix ax processing bug in {nyquist,nichols,describing_function}_plot by @murrayrm in #1145
recalculate loci for sisotool and rlocus on axis scaling by @repagh in #1153
update documentation for input_output_response to address gh1152 by @murrayrm in #1157
Disk margin calculations by @josiahdelange in #1146
Fix CI errors in NumPy 2.3.1 by @murrayrm in #1163
Update Nyquist rescaling + other improvements by @murrayrm in #1155
Version 0.10.2 release notes by @murrayrm in #1140
OS/BLAS update for Windows + small fixes for 0.10.2 release by @murrayrm in #1164

New Contributors

@sdahdah made their first contribution in #1073
@lkies made their first contribution in #1092
@jesseishi made their first contribution in #1107
@josiahdelange made their first contribution in #1146

Full Changelog: 0.10.1...0.10.2

0.10.1

2024-08-17T16:08:07Z

What's Changed

Fix docstring for root_locus_map by @bnavigator in #988
Update documentation, processing of root_locus kvect keyword by @murrayrm in #989
Fix typo in ICSystem updfcn, outfcn: update_params -> _update_params by @murrayrm in #990
Support NumPy 2 by @bnavigator in #994
Set response I/O labels from system for frequency response by @murrayrm in #1000
Change klist to gains kwarg for matlab.wrappers.rlocus by @gdmcbain in #999
Fix typo in xferfcn.py by @ansrandrieu in #1005
Add place_varga in API doc by @pierre-haessig in #1004
Process legacy rlocus keyword k->gains by @gdmcbain in #1003
Fix numpydoc for place_varga by @bnavigator in #1007
Improve acker pole placement doc by @pierre-haessig in #1006
Fix nyquist plotting from FrequencyResponseData by @wueestry in #996
Better I/O systems support for phase plots by @murrayrm in #1001
Updates for NumPy 2.0 compatibility in CI tests by @murrayrm in #1013
Add slicing access for state-space models with tests by @guptavaibhav0 in #1012
Frequency plot improvements by @murrayrm in #1011
Add extra information to nyquist plots by @wueestry in #997
Fix bug in root_locus_plot identified by @NikolaiVChr in issue #1016 by @murrayrm in #1021
Fix parallel input or output interconnect bug (issue #1015) by @murrayrm in #1017
Time response plot improvements by @murrayrm in #1018
Fix impuse response, input data only contains one input[0]==1 in each trace by @KybernetikJo in #1023
Small improvements to nlsys, bdalg by @murrayrm in #1019
Fix step_info settling time calculation by @murrayrm in #1029
Update timeplot.py by @murrayrm in #1030
Move ctrlplot code prior to upcoming PR by @murrayrm in #1033
Add pyqt dependency for QtAgg testing by @murrayrm in #1035
Improve markov function, add mimo support, change api to TimeResponseData by @KybernetikJo in #1022
Implement ERA, change api to TimeResponseData by @KybernetikJo in #1024
Change function names in modelsimp, add aliases by @KybernetikJo in #1028
Update OS/BLAS test matrix workflow by @murrayrm in #1036
Control plot refactoring for consistent functionality by @murrayrm in #1034
CDS 110 and CDS 112 Jupyter notebooks by @murrayrm in #1037
Documentation updates and testing by @murrayrm in #1038
Update shared axes processing in plot_time_response by @murrayrm in #1040
Update macos gfortran version by @murrayrm in #1041
Small user documentation fixes by @murrayrm in #1042

New Contributors

@gdmcbain made their first contribution in #999
@ansrandrieu made their first contribution in #1005
@pierre-haessig made their first contribution in #1004
@wueestry made their first contribution in #996
@guptavaibhav0 made their first contribution in #1012

Full Changelog: 0.10.0...0.10.1

0.10.0

2024-03-31T17:08:35Z

What's Changed

Multivariable interconnect functionality by @murrayrm in #881
Remove NumPy matrix class by @murrayrm in #913
I/O system class restructuring by @murrayrm in #916
Documentation fixes by @KybernetikJo in #919, #921, #922, #923
Add two MRAC siso examples by @KybernetikJo in #914
Time response plots by @murrayrm in #920
Print a connection table for interconnected systems by @sawyerbfuller in #925
Update frequency response plots to use _response/_plot pattern by @murrayrm in #924
create_statefbk_iosystem and optimal control enhancements by @murrayrm in #930
Add unit test illustrating issue #935 + add method keyword for tf2ss by @murrayrm in #937
Vectorize optimal control cost calculation by @urpok23 in #940
Improved speed of ctrb and obsv functions by @Jpickard1 in #941
Fix sphinx bug (erroneous use of class template) by @murrayrm in #943
Fix bug in matched transformation + address other issues in #950 by @murrayrm in #951
Fix typo in header of Hinf example by @jrforbes in #946
Fix typo in stochresp.py by @alex-damjanovic in #945
Fix TimeResponseData.to_pandas() to handle zero state case by @murrayrm in #958
Update pole/zero and root locus plots to use _map/_plot pattern by @murrayrm in #953
Fix CI warnings by @murrayrm in #955
Support Python 3.12, bump minimum support according to SPEC 0 by @bnavigator in #961
Fix typos in pzmap.py by @matejkarasek in #962
Fix examples to work with SciPy 1.12 by @bnavigator in #965
Fix config test for missing old key warning by @bnavigator in #972
Implementation of system norms by @henriks76 in #971, #976
Updated gram() to support discrete-time systems by @billtubbs in #969
Update unit test infrastructure by @murrayrm in #981, #986
Remove external/ directory by @murrayrm in #983
Reimplementation of 2D phase plots by @murrayrm in #980
Update readthedocs to Python 3.12 by @murrayrm in #985
Fix warning messages in tests; update rlocus/pzmap limits by @murrayrm in #984
Allow passing and saving of params in time responses by @murrayrm in #982

New Contributors

@KybernetikJo made their first contribution in #919
@urpok23 made their first contribution in #940
@Jpickard1 made their first contribution in #941
@alex-damjanovic made their first contribution in #945
@matejkarasek made their first contribution in #962
@henriks76 made their first contribution in #971

Full Changelog: 0.9.4...0.10.0

0.9.4

2023-06-10T05:19:35Z

What's Changed

remove commit from version test by @murrayrm in #833
Add README to pyproject metadata by @bnavigator in #835
allow .postn for readthedocsversion by @murrayrm in #836
Sisotool: Fix Matplotlib deprecation of axis share handling by @bnavigator in #834
GHA run examples: Create a dedicated conda env and use it by @bnavigator in #855
iosys doc example: Use array types updatefcn input/output by @bnavigator in #854
Fix Interconnect name clobbering by @henklaak in #857
Solve #862 and #864: bode_plot phase wrapping incorrect for multiple systems by @henklaak in #863
Fix root_locus() handling of ax parameter by @henklaak in #871
Fix editsdefaults fixture by @henklaak in #874
Small fixes based on Caltech CDS 112 course by @murrayrm in #849
Feature print zpk by @henklaak in #869
Feature enable doctest by @henklaak in #868
Optimization-based and moving horizon estimation by @murrayrm in #877
Small fixes for 0.9.4 release by @murrayrm in #880
new examples for Simulink-like interconnection of digital and nonlinear systems by @sawyerbfuller in #882
fix blank bode plot in rootlocus_pid_designer by @sawyerbfuller in #883
bandwidth feature by @SCLiao47 in #889
update nyquist_plot for DT transfer functions with poles at 0 and 1 by @sawyerbfuller in #885
Add missing labels when returning TimeResponseData by @joaoantoniocardoso in #892
fix damp command natural frequency printout for discrete poles on real axis by @sawyerbfuller in #894
Add H2 and Hinf synthesis examples by @jrforbes in #895
warn if prewarp-frequency is not used by @sawyerbfuller in #900
make _convert_to_statespace properly pass signal and system names by @sawyerbfuller in #884
Change name of converted LinearIOSystems by @murrayrm in #903
add/cleanup documentation on simulation functions by @murrayrm in #905
Fixed spelling mistake in description by @jrforbes in #909
fix up some warning messages due to converted systems by @murrayrm in #907
fix bdschur (see issue #911) by @murrayrm in #912

New Contributors

@henklaak made their first contribution in #857
@SCLiao47 made their first contribution in #889
@jrforbes made their first contribution in #895

Full Changelog: 0.9.3...0.9.4

0.9.3: Improvements in optimal and flatsys modules, updated passivity module, gain scheduling support, bug fixes

2022-12-31T20:49:12Z

What's Changed

Handle t_eval for static systems in input_output_response by @murrayrm in #743
add GitHub URL for PyPi by @andriyor in #708
Remove Deprecated API calls to Pytest, SciPy <1.3, Python 2 by @bnavigator in #745
Add passivity module, ispassive function, and passivity_test. Introduces optional dependency cvxopt. by @Mark-Yeatman in #739
Slycot source uses setuptools_scm now by @bnavigator in #751
Passivity indices and support for discrete time systems. by @Mark-Yeatman in #750
Switch CI to mambaforge and conda-forge channel by @bnavigator in #757
Fix timebase bug in InterconnectedSystem (issue #754) by @murrayrm in #755
fix issue with slycot balred change in state by @bnavigator in #762
Build system and test suite update by @bnavigator in #759
fix control.matlab.lsim bug for discrete time system by @murrayrm in #765
Add B-splines and solve_flat_ocp to flatsys by @murrayrm in #763
CI: switch slycot and cvxopt installation order by @murrayrm in #769
Fixed a couple of typos in documentation by @fredrhen in #775
Allow new matplotlib 3.6 error message in kwargs tests by @bnavigator in #777
Move sys._update_params(params) before TimeResponseData return when nstate == 0 by @hyumo in #774
Update MANIFEST.in by @bnavigator in #779
Improve compatibility of state space representation using LaTeX by @gonmolina in #780
Fix interconnect type conversion bug for StateSpace systems by @murrayrm in #788
fix _isstatic() to use nstates==0 by @murrayrm in #790
fix error when an IOSystem is combined with a TransferFunction system by @sawyerbfuller in #793
check for and fix mutable keyword defaults by @murrayrm in #794
Fixes for bugs found by pylint by @roryyorke in #795
Support Python 3.11 and drop Python 3.7 by @bnavigator in #796
Fix find_eqpt when y0 is None by @adswid in #798
Preserve signal names upon conversion to discrete-time by @sawyerbfuller in #797
Update benchmarks to help with optimal control tuning by @murrayrm in #800
Update optimal.rst by @htadashi in #802
Add collocation method for optimal control problems by @murrayrm in #799
Update README.rst by @sawyerbfuller in #810
Update docstring for impulse for discrete sys by @sawyerbfuller in #812
Enable scalar division of state-space objects by @roryyorke in #811
fix gain handling in rlocus and sisotool by @sawyerbfuller in #809
Removed epsilon perturbation value in solve_passivity_LMI. Fix associated unit test. by @Mark-Yeatman in #814
docstring improvements by @sawyerbfuller in #804
add zpk() function by @murrayrm in #816
Fix readthedocs to use pip-based install by @murrayrm in #817
Relax comparison of floats in tests by @bnavigator in #818
Add test matrix against operating environments by @murrayrm in #821
Update find_eqpts to handle discrete time systems by @murrayrm in #824
Small fixes and tweaks by @murrayrm in #826
update docs to use use numpydoc + linkcode by @murrayrm in #828
Add gain scheduling to create_statefbk_iosystem() by @murrayrm in #827
continuous time system support for create_estimator_iosystem by @murrayrm in #829
Small docstring fixes for release by @murrayrm in #832

New Contributors

@andriyor made their first contribution in #708
@Mark-Yeatman made their first contribution in #739
@fredrhen made their first contribution in #775
@hyumo made their first contribution in #774
@adswid made their first contribution in #798
@htadashi made their first contribution in #802

Full Changelog: 0.9.2...0.9.3

0.9.3.post2

2022-12-31T21:37:39Z

python-control version 0.9.3.post2

0.9.3.post1

2022-12-31T20:50:06Z

python-control version 0.9.3.post1

Improvements in I/O systems, stochastic systems, optimization-based control, Nyquist plots

2022-05-28T17:09:00Z

What's Changed

Round to nearest integer decade for default omega vector by @bnavigator in #688
Fix in documentation of ss2tf by @miroslavfikar in #695
Interpret str-type args to interconnect as non-sequence by @roryyorke in #698
Fixes to various optimization-based control functions by @murrayrm in #709
I/O system enhancements by @murrayrm in #710
Optimal control enhancements by @murrayrm in #712
Keyword argument checking by @murrayrm in #713
Stochastic systems additions by @murrayrm in #714
Updated system class functionality by @murrayrm in #721
Bug fix and improvements to Nyquist plots by @murrayrm in #722
Add linform to compute linear system L-infinity norm by @roryyorke in #729
Improvements to Nichols chart plotting by @roryyorke in #723
Add envs to gitignore by @s35t in #731
Added binder link by @jonititan in #693
Update python-package-conda workflow to use conda instead of conda-forge by @murrayrm in #736
Fix README.rst for twine by @murrayrm in #738

New Contributors

@s35t made their first contribution in #731
@jonititan made their first contribution in #693

Full Changelog: 0.9.1...0.9.2

New functionality for discrete time systems, flat systems, time responses + bug fixes and improvements

2021-12-31T18:21:09Z

Version 0.9.1 is a minor release that includes new functionality for discrete time systems (dlqr, dlqe, drss), flat systems (optimization and constraints), a new time response data class, and many individual improvements and bug fixes.

New features:

Add optimization to flat systems trajectory generation (#569 by murrayrm)
Return a discrete time system with drss() (#589 by bnavigator)
A first implementation of the singular value plot (#593 by forgi86)
Include InfValue into settling min/max calculation for step_info (#600 by bnavigator)
New time response data class (#649 by murrayrm)
Check for unused subsystem signals in InterconnectedSystem (#652 by roryyorke)
New PID design function built on sisotool (#662 by sawyerbfuller)
Modify discrete-time contour for Nyquist plots to indent around poles (#668 by sawyerbfuller)
Additional I/O system type conversions (#672 by murrayrm)
Remove Python 2.7 support and leverage @ operator (#679 by bnavigator)
Discrete time LQR and LQE (#670 by sawyerbfuller, murrayrm)

Improvements, bug fixes:

Change step_info undershoot percentage calculation (#590 by juanodecc)
IPython LaTeX output only generated for small systems (#607 by roryyorke)
Fix warnings generated by sisotool (#608 by roryyorke)
Discrete time LaTeX repr of StateSpace systems (#609 by bnavigator)
Updated rlocus.py to remove warning by sisotool() with rlocus_grid=True (#616 by nirjhar-das)
Refine automatic contour determination in Nyquist plot (#620 by bnavigator)
Fix damp method for discrete time systems with a negative real-valued pole (#647 by vincentchoqueuse)
Plot Nyquist frequency correctly in Bode plot in Hz (#651 by murrayrm)
Return frequency response for 0 and 1-state systems directly (#663 by bnavigator)
Fixed prewarp not working in c2d and sample_system, margin docstring improvements (#669 by sawyerbfuller)
Improved lqe calling functionality (#673 by murrayrm)
Vectorize FRD feedback function (#680 by bnavigator)
BUG: extrapolation in ufun throwing errors (#682 by miroslavfikar)
Allow use of SciPy for LQR, LQE (#683 by murrayrm)
Improve forced_response and its documentation (#588 by bnavigator)
Add documentation about use of axis('equal') in pzmap, rlocus (#685 by murrayrm)

Additional changes:

Replace Travis badge with GHA workflows, add PyPI and conda badges (#584 by bnavigator)
Don't install toplevel benchmarks package (#585 by bnavigator)
LTI squeeze: ndarray.ndim == 0 is also a scalar (#595 by bnavigator)
xfail testmarkovResults until #588 is merged (#601 by bnavigator)
Remove from readme.rst that you need a fortran compiler (#602 by sawyerbfuller)
Remove statement that slycot only on linux (#603 by sawyerbfuller)
Allow float precision in result assertions (#615 by bnavigator)
Improved unit test coverage for root_locus: dtime and sisotool (#617 by bnavigator)
Add DefaultDict for deprecation handling (#619 by bnavigator)
Documentation updates (#633 by murrayrm)
Various docstring edits + fixed plot legends on cruise control example (#643 by billtubbs)
Ease test tolerance on timeseries (#659 by bnavigator)
Use conda-forge for numpy (CI fix) (#667 by bnavigator)
Fix doc escape (#674 by bnavigator)
Remove duplicate Slycot error handling, require Slycot >=0.4 (#678 by bnavigator)
Full list of merged pull requests associated with this release.
Full list of commits associated with this release.

0.9.0 - many improvements plus new functionality (plots, iosys, descfcn, optimal), deprecated np.matrix, py2.7

2021-03-20T16:56:39Z

Version 0.9.0 of the Python Control Toolbox (python-control) contains a number of enhanced features and changes to functions. Some of these changes may require modifications to existing user code and, in addition, some default settings have changed that may affect the appearance of plots or operation of certain functions.

Significant new additions including improvements in the I/O systems modules that allow automatic interconnection of signals having the same name (via the interconnect function), generation and plotting of describing functions for closed loop systems with static nonlinearities, and a new optimal control module that allows basic computation of optimal controls (including model predictive controllers). Some of the changes that may break use code include the deprecation of the NumPy matrix type (2D NumPy arrays are used instead), changes in the return value for Nyquist plots (now returns number of encirclements rather than the frequency response), switching the default timebase of systems to be 0 rather than None (no timebase), and changes in the processing of return values for time and frequency responses (to make them more consistent). In many cases, the earlier behavior can be restored by calling use_legacy_defaults('0.8.4'). A full list of additions and changes is described below.

New features

Optimal control module, including rudimentary MPC control (#549 by murrayrm)
Describing functions plots (#521 by murrayrm)
MIMO impulse and step response (#514 by murrayrm)
I/O system improvements:
- linearize() retains signal names plus new interconnect() function (#497 by murrayrm)
- Add summing junction + implicit signal interconnection (#517 by murrayrm)
Implementation of initial_phase, wrap_phase keywords for bode_plot (#494 by murrayrm)
Added IPython LaTeX representation method for StateSpace objects (#450 by roryyorke)
New dynamics() and output() methods in StateSpace (#566 by sawyerbfuller)
FRD systems can now be created from a discrete time LTI system (#568 by bnavigator)
Cost and constraints are now allowed for flatsys.point_to_point() (#569 by murrayrm)

Interface changes

Switch default state space matrix type to 'array' (instead of 'matrix') (#480 by murrayrm, #486 by bnavigator, #433 by sawyerbfuller)
Use __call__ instead of evalfr in lti system classes (#449 by sawyerbfuller)
Default dt is now 0 instead of None (#431 by sawyerbfuller, #490 by bnavigator)
Change default value of statesp.remove_useless_states to False (#509 by murrayrm)
Standardize time response return values, return_x/squeeze keyword processing (#511 by murrayrm)
Standardize squeeze processing in frequency response functions (#507 by murrayrm)
Nyquist plot now returns number of encirclements (#534 by murrayrm)
Switch LTI class and subclasses to use ninputs, noutputs, nstates (#515 by murrayrm)
Use standard time series convention for markov() input data (#508 by murrayrm)
TransferFunction array priority plus system type conversion checking (#498 by murrayrm)
Generate error for tf2ss of non-proper transfer function (#492 by murrayrm)
Updated return values for frequency response evaluated at poles (#542 by murrayrm)

Improvements, bug fixes

Nyquist plot improvements: better arrows, handle poles on imaginary axis (#534 by murrayrm)
Sisotool small visual cleanup, new feature to show step response of different input-output than loop (#531 by sawyerbfuller)
Add bdschur() and fox modal form with repeated eigenvalues (#495 by roryyorke)
Fix rlocus timeout due to inefficient _default_wn calculation (#527 by murrayrm)
Fix #523: finding z for |H(z)|=1 computed the wrong polynomials (#525 by bnavigator)
Freqplot improvements (#522 by sawyerbfuller)
Fix rlocus plotting problem in Jupyter notebooks (#503 by murrayrm)
Handle empty pole vector for timevector calculation (#485 by bnavigator)
Fix lqe() docstring and input array type (#483 by bnavigator)
Updated markov() to add tranpose keyword + default warning (#478 by murrayrm)
Fix impulse size for discrete-time impulse response (#447 by sawyerbfuller)
Extend returnScipySignalLTI() to handle discrete-time systems (#445 by bnavigator)
Bug fixes and extensions for step_info() (#555 by sawyerbfuller, #567 by juanodecc, #577 by bnavigator)

Additional changes

Address NumPy deprecations np.int, np.float (#539 by dapperfu, #548 by murrayrm)
Shift CI tests from Travis CI to GitHub Actions (#504 by murrayrm)
Link to developer wiki in docs. (#502 by sawyerbfuller)
Reduce Python 3 testing to speed up Travis CI testing (#487 by murrayrm)
Refactor the test suite using pytest for array and matrix types (#438 by bnavigator)
Full list of merged pull requests associated with this release.
Full list of commits associated with this release.