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‎control/bdalg.py‎

Lines changed: 10 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -496,7 +496,7 @@ def combine_tf(tf_array, **kwargs):
496496
Raises
497497
------
498498
ValueError
499-
If timesteps of transfer functions do not match.
499+
If timebase of transfer functions do not match.
500500
ValueError
501501
If `tf_array` has incorrect dimensions.
502502
ValueError
@@ -548,7 +548,7 @@ def combine_tf(tf_array, **kwargs):
548548
dt_set = set(dt_list)
549549
dt_set.discard(None)
550550
if len(dt_set) > 1:
551-
raise ValueError("Timesteps of transfer functions are "
551+
raise ValueError("Time steps of transfer functions are "
552552
f"mismatched: {dt_set}")
553553
elif len(dt_set) == 0:
554554
dt = None
@@ -665,11 +665,11 @@ def _ensure_tf(arraylike_or_tf, dt=None):
665665
arraylike_or_tf : `TransferFunction` or array_like
666666
Array-like or transfer function.
667667
dt : None, True or float, optional
668-
System timebase. 0 (default) indicates continuous
669-
time, True indicates discrete time with unspecified sampling
670-
time, positive number is discrete time with specified
671-
sampling time, None indicates unspecified timebase (either
672-
continuous or discrete time). If None, timestep is not validated.
668+
System timebase. 0 (default) indicates continuous time, True
669+
indicates discrete time with unspecified sampling time, positive
670+
number is discrete time with specified sampling time, None
671+
indicates unspecified timebase (either continuous or discrete
672+
time). If None, timebase is not validated.
673673
674674
Returns
675675
-------
@@ -681,11 +681,12 @@ def _ensure_tf(arraylike_or_tf, dt=None):
681681
ValueError
682682
If input cannot be converted to a transfer function.
683683
ValueError
684-
If the timesteps do not match.
684+
If the timebases do not match.
685+
685686
"""
686687
# If the input is already a transfer function, return it right away
687688
if isinstance(arraylike_or_tf, tf.TransferFunction):
688-
# If timesteps don't match, raise an exception
689+
# If timebases don't match, raise an exception
689690
if (dt is not None) and (arraylike_or_tf.dt != dt):
690691
raise ValueError(
691692
f"`arraylike_or_tf.dt={arraylike_or_tf.dt}` does not match "

‎control/canonical.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ def canonical_form(xsys, form='reachable'):
5858
5959
"""
6060

61-
# Call the appropriate tranformation function
61+
# Call the appropriate transformation function
6262
if form == 'reachable':
6363
return reachable_form(xsys)
6464
elif form == 'observable':

‎control/config.py‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
# config.py - package defaults
22
# RMM, 4 Nov 2012
33
#
4-
# TODO: add ability to read/write configuration files (ala Matplotlib)
4+
# TODO: add ability to read/write configuration files (ala matplotlib)
55

66
"""Functions to access default parameter values.
77
@@ -133,7 +133,7 @@ def set_defaults(module, **keywords):
133133
defaults[module + '.' + key] = val
134134

135135

136-
# TODO: allow individual modules and individaul parameters to be reset
136+
# TODO: allow individual modules and individual parameters to be reset
137137
def reset_defaults():
138138
"""Reset configuration values to their default (initial) values.
139139
@@ -207,7 +207,7 @@ def _get_param(module, param, argval=None, defval=None, pop=False, last=False):
207207
module : str
208208
Name of the module whose parameters are being requested.
209209
param : str
210-
Name of the parameter value to be determeind.
210+
Name of the parameter value to be determined.
211211
argval : object or dict
212212
Value of the parameter as passed to the function. This can either be
213213
an object or a dictionary (i.e. the keyword list from the function
@@ -219,11 +219,11 @@ def _get_param(module, param, argval=None, defval=None, pop=False, last=False):
219219
None.
220220
pop : bool, optional
221221
If True and if argval is a dict, then pop the remove the parameter
222-
entry from the argval dict after retreiving it. This allows the use
222+
entry from the argval dict after retrieving it. This allows the use
223223
of a keyword argument list to be passed through to other functions
224224
internal to the function being called.
225225
last : bool, optional
226-
If True, check to make sure dictionary is empy after processing.
226+
If True, check to make sure dictionary is empty after processing.
227227
228228
"""
229229

@@ -270,7 +270,7 @@ def use_matlab_defaults():
270270
def use_fbs_defaults():
271271
"""Use Feedback Systems (FBS) compatible settings.
272272
273-
The following conventions fomr `Feedback Systems <http://fbsbook.org>`_
273+
The following conventions from `Feedback Systems <http://fbsbook.org>`_
274274
are used:
275275
276276
* Bode plots plot gain in powers of ten, phase in degrees,
@@ -352,7 +352,7 @@ def use_legacy_defaults(version):
352352
# switched to 'array' as default for state space objects
353353
warnings.warn("NumPy matrix class no longer supported")
354354

355-
# switched to 0 (=continuous) as default timestep
355+
# switched to 0 (=continuous) as default timebase
356356
set_defaults('control', default_dt=None)
357357

358358
# changed iosys naming conventions
@@ -388,7 +388,7 @@ def _process_legacy_keyword(kwargs, oldkey, newkey, newval, warn_oldkey=True):
388388
Parameters
389389
----------
390390
kwargs : dict
391-
Dictionary of keword arguments (from function call).
391+
Dictionary of keyword arguments (from function call).
392392
oldkey : str
393393
Old (legacy) parameter name.
394394
newkey : str

‎control/ctrlplot.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -350,7 +350,7 @@ def _process_ax_keyword(
350350
current figure and axes are returned. Otherwise a new figure is
351351
created with axes of the desired shape.
352352
353-
If `create_axes` is False and a new/empty figure is returned, then axs
353+
If `create_axes` is False and a new/empty figure is returned, then `axs`
354354
is an array of the proper shape but None for each element. This allows
355355
the calling function to do the actual axis creation (needed for
356356
curvilinear grids that use the AxisArtist module).
@@ -630,13 +630,13 @@ def _add_arrows_to_line2D(
630630
color = line.get_color()
631631
use_multicolor_lines = isinstance(color, np.ndarray)
632632
if use_multicolor_lines:
633-
raise NotImplementedError("multicolor lines not supported")
633+
raise NotImplementedError("multi-color lines not supported")
634634
else:
635635
arrow_kw['color'] = color
636636

637637
linewidth = line.get_linewidth()
638638
if isinstance(linewidth, np.ndarray):
639-
raise NotImplementedError("multiwidth lines not supported")
639+
raise NotImplementedError("multi-width lines not supported")
640640
else:
641641
arrow_kw['linewidth'] = linewidth
642642

@@ -717,7 +717,7 @@ def _get_color(
717717
"""Get color to use for plotting line.
718718
719719
This function returns the color to be used for the line to be drawn (or
720-
None if the detault color cycle for the axes should be used).
720+
None if the default color cycle for the axes should be used).
721721
722722
Parameters
723723
----------

‎control/delay.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -73,7 +73,7 @@ def pade(T, n=1, numdeg=None):
7373
num[-1] = 1.
7474
cn = 1.
7575
for k in range(1, numdeg+1):
76-
# derived from Gloub and van Loan eq. for Dpq(z) on p. 572
76+
# derived from Golub and van Loan eq. for Dpq(z) on p. 572
7777
# this accumulative style follows Alg 11.3.1
7878
cn *= -T * (numdeg - k + 1)/(numdeg + n - k + 1)/k
7979
num[numdeg-k] = cn

‎control/descfcn.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@ class DescribingFunctionNonlinearity():
3434
3535
"""
3636
def __init__(self):
37-
"""Initailize a describing function nonlinearity (optional)."""
37+
"""Initialize a describing function nonlinearity (optional)."""
3838
pass
3939

4040
def __call__(self, A):
@@ -208,7 +208,7 @@ def describing_function(
208208
# Evaluate the function along a sinusoid
209209
F_eval = np.array([F(x) for x in a*sin_theta]).squeeze()
210210

211-
# Compute the prjections onto sine and cosine
211+
# Compute the projections onto sine and cosine
212212
df_real = (F_eval @ sin_theta) * scale # = M_1 \cos\phi / a
213213
df_imag = (F_eval @ cos_theta) * scale # = M_1 \sin\phi / a
214214

‎control/dtime.py‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ def sample_system(sysc, Ts, method='zoh', alpha=None, prewarp_frequency=None,
5555
`config.defaults['iosys.sampled_system_name_prefix']` and
5656
`config.defaults['iosys.sampled_system_name_suffix']`, with the
5757
default being to add the suffix '$sampled'.
58-
copy_names : bool, Optional
58+
copy_names : bool, optional
5959
If True, copy the names of the input signals, output
6060
signals, and states to the sampled system.
6161
@@ -83,4 +83,6 @@ def sample_system(sysc, Ts, method='zoh', alpha=None, prewarp_frequency=None,
8383
method=method, alpha=alpha, prewarp_frequency=prewarp_frequency,
8484
name=name, copy_names=copy_names, **kwargs)
8585

86+
87+
# Convenience aliases
8688
c2d = sample_system

‎control/exception.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -29,10 +29,10 @@ class ControlNotImplemented(NotImplementedError):
2929
"""Functionality is not yet implemented."""
3030
pass
3131

32-
# Utility function to see if slycot is installed
32+
# Utility function to see if Slycot is installed
3333
slycot_installed = None
3434
def slycot_check():
35-
"""Return True if slycot is installed, otherwise False."""
35+
"""Return True if Slycot is installed, otherwise False."""
3636
global slycot_installed
3737
if slycot_installed is None:
3838
try:

‎control/flatsys/__init__.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
33
# Author: Richard M. Murray
44
# Date: 1 Jul 2019
55

6-
r"""Flat systems sub-package.
6+
r"""Flat systems subpackage.
77
8-
This sub-package contains a set of classes and functions to compute
8+
This subpackage contains a set of classes and functions to compute
99
trajectories for differentially flat systems.
1010
1111
A differentially flat system is defined by creating an object using the

‎control/flatsys/bspline.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -125,7 +125,7 @@ def process_spline_parameters(
125125
smoothness, nvars, (int), name='smoothness', minimum=0,
126126
default=[d - 1 for d in degree])
127127

128-
# Make sure degree is sufficent for the level of smoothness
128+
# Make sure degree is sufficient for the level of smoothness
129129
if any([degree[i] - smoothness[i] < 1 for i in range(nvars)]):
130130
raise ValueError("degree must be greater than smoothness")
131131

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