a few more fixes to sys.sample

sawyerbfuller · sawyerbfuller · commit 11d935048c71 · 2022-11-30T15:01:32.000-08:00
diff --git a/control/dtime.py b/control/dtime.py
@@ -86,7 +86,7 @@ def sample_system(sysc, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         signals, and states to the sampled system.
     inputs : int, list of str or None, optional
         Description of the system inputs.  If not specified, the origional
-        system inputs are used.  See :class:`NamedIOSystem` for more
+        system inputs are used.  See :class:`InputOutputSystem` for more
         information.
     outputs : int, list of str or None, optional
         Description of the system outputs.  Same format as `inputs`.
diff --git a/control/iosys.py b/control/iosys.py
@@ -2205,7 +2205,7 @@ def linearize(sys, xeq, ueq=None, t=0, params=None, **kw):
         states to the linearized system.
     inputs : int, list of str or None, optional
         Description of the system inputs.  If not specified, the origional
-        system inputs are used.  See :class:`NamedIOSystem` for more
+        system inputs are used.  See :class:`InputOutputSystem` for more
         information.
     outputs : int, list of str or None, optional
         Description of the system outputs.  Same format as `inputs`.
diff --git a/control/statesp.py b/control/statesp.py
@@ -1338,14 +1338,6 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         copy_names : bool, Optional
             If True, copy the names of the input signals, output
             signals, and states to the sampled system.
-
-        Returns
-        -------
-        sysd : StateSpace
-            Discrete-time system, with sampling rate Ts
-
-        Additional Parameters
-        ---------------------
         inputs : int, list of str or None, optional
             Description of the system inputs.  If not specified, the origional
             system inputs are used.  See :class:`InputOutputSystem` for more
@@ -1355,6 +1347,11 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         states : int, list of str, or None, optional
             Description of the system states.  Same format as `inputs`.
 
+        Returns
+        -------
+        sysd : StateSpace
+            Discrete-time system, with sampling rate Ts
+
         Notes
         -----
         Uses :func:`scipy.signal.cont2discrete`
@@ -1520,6 +1517,7 @@ def output(self, t, x, u=None, params=None):
 
 
 # TODO: add discrete time check
+# TODO: copy signal names
 def _convert_to_statespace(sys):
     """Convert a system to state space form (if needed).
 
diff --git a/control/xferfcn.py b/control/xferfcn.py
@@ -1130,21 +1130,18 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
         copy_names : bool, Optional
             If True, copy the names of the input signals, output
             signals, and states to the sampled system.
-
-        Returns
-        -------
-        sysd : TransferFunction system
-            Discrete-time system, with sample period Ts
-
-        Additional Parameters
-        ---------------------
         inputs : int, list of str or None, optional
             Description of the system inputs.  If not specified, the origional
-            system inputs are used.  See :class:`NamedIOSystem` for more
+            system inputs are used.  See :class:`InputOutputSystem` for more
             information.
         outputs : int, list of str or None, optional
             Description of the system outputs.  Same format as `inputs`.
 
+        Returns
+        -------
+        sysd : TransferFunction system
+            Discrete-time system, with sample period Ts
+
         Notes
         -----
         1. Available only for SISO systems
