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Fix documentation and whitespace
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Lines changed: 12 additions & 18 deletions

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‎control/mateqn.py‎

Lines changed: 8 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -118,8 +118,8 @@ def lyap(A, Q, C=None, E=None, method=None, symmetric_kwargs=None):
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'slycot' and 'scipy'. If set to None (default), try 'slycot' first
119119
and then 'scipy'.
120120
symmetric_kwargs : dict, optional
121-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
122-
such as `atol` and `rtol`.
121+
Keyword arguments passed to `scipy.linalg.issymmetric` or
122+
`scipy.linalg.ishermitian`.
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Returns
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-------
@@ -146,7 +146,6 @@ def lyap(A, Q, C=None, E=None, method=None, symmetric_kwargs=None):
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equations", Advances in Computational Mathematics, 8:33-48, 1998.
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"""
149-
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# Decide what method to use
151150
method = _slycot_or_scipy(method)
152151
if method == 'slycot':
@@ -284,8 +283,8 @@ def dlyap(A, Q, C=None, E=None, method=None, symmetric_kwargs=None):
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'slycot' and 'scipy'. If set to None (default), try 'slycot' first
285284
and then 'scipy'.
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symmetric_kwargs : dict, optional
287-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
288-
such as `atol` and `rtol`.
286+
Keyword arguments passed to `scipy.linalg.issymmetric` or
287+
`scipy.linalg.ishermitian`.
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Returns
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-------
@@ -323,7 +322,6 @@ def dlyap(A, Q, C=None, E=None, method=None, symmetric_kwargs=None):
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equation AX + XB = C", Comm. ACM, 15(9), pp. 820-826, 1972.
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"""
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# Decide what method to use
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method = _slycot_or_scipy(method)
329327

@@ -493,8 +491,8 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None, symmetr
493491
'slycot' and 'scipy'. If set to None (default), try 'slycot' first
494492
and then 'scipy'.
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symmetric_kwargs : dict, optional
496-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
497-
such as `atol` and `rtol`.
494+
Keyword arguments passed to `scipy.linalg.issymmetric` or
495+
`scipy.linalg.ishermitian`.
498496
stabilizing : bool, optional
499497
If `method` is 'slycot', unstabilized eigenvalues will be returned
500498
in the initial elements of `L`. Not supported for 'scipy'.
@@ -509,7 +507,6 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None, symmetr
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Gain matrix.
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"""
512-
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# Decide what method to use
514511
method = _slycot_or_scipy(method)
515512

@@ -653,8 +650,8 @@ def dare(A, B, Q, R, S=None, E=None, stabilizing=True, method=None, symmetric_kw
653650
'slycot' and 'scipy'. If set to None (default), try 'slycot' first
654651
and then 'scipy'.
655652
symmetric_kwargs : dict, optional
656-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
657-
such as `atol` and `rtol`.
653+
Keyword arguments passed to `scipy.linalg.issymmetric` or
654+
`scipy.linalg.ishermitian`.
658655
stabilizing : bool, optional
659656
If `method` is 'slycot', unstabilized eigenvalues will be returned
660657
in the initial elements of `L`. Not supported for 'scipy'.
@@ -669,7 +666,6 @@ def dare(A, B, Q, R, S=None, E=None, stabilizing=True, method=None, symmetric_kw
669666
Gain matrix.
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"""
672-
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# Decide what method to use
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method = _slycot_or_scipy(method)
675671

‎control/stochsys.py‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -84,8 +84,8 @@ def lqe(*args, symmetric_kwargs=None, **kwargs):
8484
'slycot' and 'scipy'. If set to None (default), try 'slycot' first
8585
and then 'scipy'.
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symmetric_kwargs : dict, optional
87-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
88-
such as `atol` and `rtol`.
87+
Keyword arguments passed to `scipy.linalg.issymmetric` or
88+
`scipy.linalg.ishermitian`.
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Returns
9191
-------
@@ -136,7 +136,6 @@ def lqe(*args, symmetric_kwargs=None, **kwargs):
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137137
# Get the method to use (if specified as a keyword)
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method = kwargs.pop('method', None)
139-
140139
if kwargs:
141140
raise TypeError("unrecognized keyword(s): ", str(kwargs))
142141

@@ -225,8 +224,8 @@ def dlqe(*args, symmetric_kwargs=None, **kwargs):
225224
'slycot' and 'scipy'. If set to None (default), try 'slycot'
226225
first and then 'scipy'.
227226
symmetric_kwargs : dict, optional
228-
Keyword arguments passed to the SciPy symmetry/Hermitian check,
229-
such as `atol` and `rtol`.
227+
Keyword arguments passed to `scipy.linalg.issymmetric` or
228+
`scipy.linalg.ishermitian`.
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Returns
232231
-------
@@ -259,7 +258,6 @@ def dlqe(*args, symmetric_kwargs=None, **kwargs):
259258

260259
# Get the method to use (if specified as a keyword)
261260
method = kwargs.pop('method', None)
262-
263261
if kwargs:
264262
raise TypeError("unrecognized keyword(s): ", str(kwargs))
265263

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