updates to address @slivingston review comments

murrayrm · murrayrm · commit 951e17126e58 · 2024-06-26T08:22:48.000-07:00
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -169,6 +169,13 @@ class TimeResponseData:
     input_labels, output_labels, state_labels : array of str
         Names for the input, output, and state variables.
 
+    success : bool, optional
+        If ``False``, result may not be valid (see
+        :func:`~control.input_output_response`).  Defaults to ``True``.
+
+    message : str, optional
+        Informational message if ``success`` is ``False``.
+
     sysname : str, optional
         Name of the system that created the data.
 
diff --git a/examples/cds110_invpend-dynamics.ipynb b/examples/cds110_invpend-dynamics.ipynb
@@ -8,7 +8,7 @@
    "source": [
     "# Inverted Pendulum Dynamics\n",
     "\n",
-    "CDS 110/ChE 105, Winter 2024 <br>\n",
+    "CDS 110, Winter 2024 <br>\n",
     "Richard M. Murray\n",
     "\n",
     "In this lecture we investigate the nonlinear dynamics of an inverted pendulum system.  More information on this example can be found in [FBS2e](https://fbswiki.org/wiki/index.php?title=FBS), Examples 3.3 and 5.4.\n"
@@ -56,7 +56,7 @@
     "    y = \\theta,\n",
     "$$\n",
     "\n",
-    "where $m$ and $J_t = J + m l^2$ are the mass and (total) moment of inertia of the system to be balanced, $l$ is the distance from the base to the center of mass of the balanced body, $b$ is the coefficient of viscous friction, and $g$ is the acceleration due to gravity.\n",
+    "where $m$ and $J_t = J + m l^2$ are the mass and (total) moment of inertia of the system to be balanced, $l$ is the distance from the base to the center of mass of the balanced body, $b$ is the coefficient of rotational friction, and $g$ is the acceleration due to gravity.\n",
     "\n",
     "We begin by creating a nonlinear model of the system:"
    ]
@@ -155,7 +155,7 @@
    "source": [
     "We see that the vertical ($\\theta = 0$) equilibrium point is unstable, but the downward equlibrium points ($\\theta = \\pm \\pi$) are stable.\n",
     "\n",
-    "Note also the *separatrices* for the equilibrium point, which gives insighs into the regions of attraction (the red dashed line separates the two regions of attraction)."
+    "Note also the *separatrices* for the equilibrium point, which gives insights into the regions of attraction (the red dashed line separates the two regions of attraction)."
    ]
   },
   {
@@ -210,7 +210,7 @@
     "id": "AvU35WoBMFjt"
    },
    "source": [
-    "Note that the input to the controller is the reference value $r$ (which will will always take to be zero), the measured output $y$, which is the angle $\\theta$ for our system.  The output of the controller is the system input $u$, corresponding to the force applied to the wheels.\n",
+    "Note that the input to the controller is the reference value $r$ (which we will always take to be zero), the measured output $y$, which is the angle $\\theta$ for our system.  The output of the controller is the system input $u$, corresponding to the force applied to the wheels.\n",
     "\n",
     "To connect the controller to the system, we use the [`interconnect`](https://python-control.readthedocs.io/en/latest/generated/control.interconnect.html) function, which will connect all signals that have the same names:"
    ]
@@ -297,7 +297,7 @@
    "source": [
     "### Phase portrait\n",
     "\n",
-    "To study the resuling dynamics, we try plotting a phase plot using the same commands as before, but now for the closed loop system (with appropriate proportional gain):"
+    "To study the resulting dynamics, we try plotting a phase plot using the same commands as before, but now for the closed loop system (with appropriate proportional gain):"
    ]
   },
   {
@@ -574,7 +574,7 @@
     "\n",
     "Here are some things to try with the above code:\n",
     "* Try changing the locations of the closed loop eigenvalues in the `place` command\n",
-    "* Try reseting the limits of the control action (`umax`)\n",
+    "* Try resetting the limits of the control action (`umax`)\n",
     "* Try leaving the state space controller fixed but changing the parameters of the system dynamics ($m$, $l$, $b$).  Does the controller still stabilize the system?"
    ]
   },
