isort -m2 on touched files

murrayrm · murrayrm · commit b360c2a53e40 · 2025-02-02T20:27:07.000-08:00
diff --git a/control/canonical.py b/control/canonical.py
@@ -1,17 +1,15 @@
 # canonical.py - functions for converting systems to canonical forms
 # RMM, 10 Nov 2012
 
+import numpy as np
+from numpy import poly, transpose, zeros_like
+from numpy.linalg import matrix_rank, solve
+from scipy.linalg import schur
+
 from .exception import ControlNotImplemented, ControlSlycot
 from .iosys import issiso
-from .statesp import StateSpace, _convert_to_statespace
 from .statefbk import ctrb, obsv
-
-import numpy as np
-
-from numpy import zeros_like, poly, transpose
-from numpy.linalg import solve, matrix_rank
-
-from scipy.linalg import schur
+from .statesp import StateSpace, _convert_to_statespace
 
 __all__ = ['canonical_form', 'reachable_form', 'observable_form', 'modal_form',
            'similarity_transform', 'bdschur']
diff --git a/control/ctrlutil.py b/control/ctrlutil.py
@@ -40,12 +40,14 @@
 #
 # $Id$
 
-# Packages that we need access to
-from . import lti
-import numpy as np
 import math
 import warnings
 
+import numpy as np
+
+# Packages that we need access to
+from . import lti
+
 __all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']
 
 # Utility function to unwrap an angle measurement
diff --git a/control/exception.py b/control/exception.py
@@ -70,7 +70,7 @@ def slycot_check():
     global slycot_installed
     if slycot_installed is None:
         try:
-            import slycot # noqa: F401
+            import slycot  # noqa: F401
             slycot_installed = True
         except:
             slycot_installed = False
@@ -84,7 +84,7 @@ def pandas_check():
     global pandas_installed
     if pandas_installed is None:
         try:
-            import pandas # noqa: F401
+            import pandas  # noqa: F401
             pandas_installed = True
         except:
             pandas_installed = False
@@ -97,7 +97,7 @@ def cvxopt_check():
     global cvxopt_installed
     if cvxopt_installed is None:
         try:
-            import cvxopt # noqa: F401
+            import cvxopt  # noqa: F401
             cvxopt_installed = True
         except:
             cvxopt_installed = False
diff --git a/control/flatsys/bezier.py b/control/flatsys/bezier.py
@@ -40,8 +40,10 @@
 
 import numpy as np
 from scipy.special import binom, factorial
+
 from .basis import BasisFamily
 
+
 class BezierFamily(BasisFamily):
     r"""Bezier curve basis functions.
 
diff --git a/control/flatsys/bspline.py b/control/flatsys/bspline.py
@@ -7,9 +7,11 @@
 #
 
 import numpy as np
-from .basis import BasisFamily
 from scipy.interpolate import BSpline
 
+from .basis import BasisFamily
+
+
 class BSplineFamily(BasisFamily):
     """B-spline basis functions.
 
diff --git a/control/flatsys/flatsys.py b/control/flatsys/flatsys.py
@@ -2,16 +2,18 @@
 # RMM, 10 Nov 2012
 
 import itertools
+import warnings
+
 import numpy as np
 import scipy as sp
 import scipy.optimize
-import warnings
-from .poly import PolyFamily
-from .systraj import SystemTrajectory
-from ..exception import ControlArgument
+
 from ..config import _process_legacy_keyword
+from ..exception import ControlArgument
 from ..nlsys import NonlinearIOSystem
 from ..timeresp import _check_convert_array
+from .poly import PolyFamily
+from .systraj import SystemTrajectory
 
 
 # Flat system class (for use as a base class)
@@ -245,8 +247,8 @@ def flatsys(*args, updfcn=None, outfcn=None, **kwargs):
         'u', 'y', 'x'.
 
     """
-    from .linflat import LinearFlatSystem
     from ..statesp import StateSpace
+    from .linflat import LinearFlatSystem
 
     if len(args) == 1 and isinstance(args[0], StateSpace):
         # We were passed a linear system, so call linflat
diff --git a/control/flatsys/linflat.py b/control/flatsys/linflat.py
@@ -36,9 +36,11 @@
 # SUCH DAMAGE.
 
 import numpy as np
+
 import control
-from .flatsys import FlatSystem
+
 from ..statesp import StateSpace
+from .flatsys import FlatSystem
 
 
 class LinearFlatSystem(FlatSystem, StateSpace):
diff --git a/control/flatsys/poly.py b/control/flatsys/poly.py
@@ -39,8 +39,10 @@
 
 import numpy as np
 from scipy.special import factorial
+
 from .basis import BasisFamily
 
+
 class PolyFamily(BasisFamily):
     r"""Polynomial basis functions.
 
diff --git a/control/flatsys/systraj.py b/control/flatsys/systraj.py
@@ -37,8 +37,10 @@
 # SUCH DAMAGE.
 
 import numpy as np
+
 from ..timeresp import TimeResponseData
 
+
 class SystemTrajectory:
     """Class representing a trajectory for a flat system.
 
diff --git a/control/frdata.py b/control/frdata.py
@@ -15,12 +15,10 @@
 from warnings import warn
 
 import numpy as np
-from numpy import absolute, array, empty, eye, imag, linalg, ones, \
-    real, sort
+from numpy import absolute, array, empty, eye, imag, linalg, ones, real, sort
 from scipy.interpolate import splev, splprep
 
-from . import config
-from . import bdalg
+from . import bdalg, config
 from .exception import pandas_check
 from .iosys import InputOutputSystem, NamedSignal, _extended_system_name, \
     _process_iosys_keywords, _process_subsys_index, common_timebase
diff --git a/control/lti.py b/control/lti.py
@@ -4,16 +4,17 @@
 and TransferFunction.  It is designed for use in the python-control library.
 """
 
-import numpy as np
 import math
-
-# todo: override built-in abs
-from numpy import real, abs
+from typing import Callable
 from warnings import warn
+
+import numpy as np
+from numpy import abs, real
+
+import control
+
 from . import config
 from .iosys import InputOutputSystem
-import control
-from typing import Callable
 
 __all__ = ['poles', 'zeros', 'damp', 'evalfr', 'frequency_response',
            'freqresp', 'dcgain', 'bandwidth', 'LTI']
diff --git a/control/margins.py b/control/margins.py
@@ -49,13 +49,13 @@
 
 import math
 from warnings import warn
+
 import numpy as np
 import scipy as sp
-from . import xferfcn
-from .iosys import issiso
-from . import frdata
-from . import freqplot
+
+from . import frdata, freqplot, xferfcn
 from .exception import ControlMIMONotImplemented
+from .iosys import issiso
 
 __all__ = ['stability_margins', 'phase_crossover_frequencies', 'margin']
 
diff --git a/control/mateqn.py b/control/mateqn.py
@@ -36,13 +36,13 @@
 # SUCH DAMAGE.
 
 import warnings
-import numpy as np
-from numpy import eye, finfo, inexact
 
+import numpy as np
 import scipy as sp
+from numpy import eye, finfo, inexact
 from scipy.linalg import eigvals, solve
 
-from .exception import ControlSlycot, ControlArgument, ControlDimension, \
+from .exception import ControlArgument, ControlDimension, ControlSlycot, \
     slycot_check
 
 # Make sure we have access to the right slycot routines
diff --git a/control/nlsys.py b/control/nlsys.py
@@ -26,8 +26,8 @@
 from . import config
 from .iosys import InputOutputSystem, _parse_spec, _process_iosys_keywords, \
     common_timebase, iosys_repr, isctime, isdtime
-from .timeresp import _check_convert_array, _process_time_response, \
-    TimeResponseData, TimeResponseList
+from .timeresp import TimeResponseData, TimeResponseList, \
+    _check_convert_array, _process_time_response
 
 __all__ = ['NonlinearIOSystem', 'InterconnectedSystem', 'nlsys',
            'input_output_response', 'find_eqpt', 'linearize',
@@ -1372,8 +1372,8 @@ def nlsys(updfcn, outfcn=None, **kwargs):
     ...     kincar, timepts, [10, 0.05 * np.sin(timepts)])
 
     """
-    from .statesp import StateSpace
     from .iosys import _extended_system_name
+    from .statesp import StateSpace
 
     if isinstance(updfcn, StateSpace):
         sys_ss = updfcn
diff --git a/control/optimal.py b/control/optimal.py
@@ -14,18 +14,18 @@
 
 """
 
+import logging
+import time
+import warnings
+
 import numpy as np
 import scipy as sp
 import scipy.optimize as opt
+
 import control as ct
-import warnings
-import logging
-import time
 
 from . import config
-from .iosys import _process_labels, \
-    _process_control_disturbance_indices
-
+from .iosys import _process_control_disturbance_indices, _process_labels
 
 # Define module default parameter values
 _optimal_trajectory_methods = {'shooting', 'collocation'}
diff --git a/control/passivity.py b/control/passivity.py
@@ -6,6 +6,7 @@
 """
 
 import numpy as np
+
 from control import statesp
 from control.exception import ControlArgument, ControlDimension
 
diff --git a/control/robust.py b/control/robust.py
@@ -39,9 +39,11 @@
 #
 # $Id$
 
+import warnings
+
 # External packages and modules
 import numpy as np
-import warnings
+
 from .exception import ControlSlycot
 from .statesp import StateSpace
 
@@ -286,7 +288,7 @@ def augw(g, w1=None, w2=None, w3=None):
     h2syn, hinfsyn, mixsyn
     """
 
-    from . import append, ss, connect
+    from . import append, connect, ss
 
     if w1 is None and w2 is None and w3 is None:
         raise ValueError("At least one weighting must not be None")
diff --git a/control/statesp.py b/control/statesp.py
@@ -22,26 +22,25 @@
 import scipy as sp
 import scipy.linalg
 # array needed in eval() call
-from numpy import array # noqa: F401
-from numpy import any, asarray, concatenate, cos, delete, empty, \
-    exp, eye, isinf, pad, sin, squeeze, zeros
+from numpy import array  # noqa: F401
+from numpy import any, asarray, concatenate, cos, delete, empty, exp, eye, \
+    isinf, pad, sin, squeeze, zeros
 from numpy.linalg import LinAlgError, eigvals, matrix_rank, solve
 from numpy.random import rand, randn
 from scipy.signal import StateSpace as signalStateSpace
 from scipy.signal import cont2discrete
 
-from . import config
-from . import bdalg
+import control
+
+from . import bdalg, config
 from .exception import ControlDimension, ControlMIMONotImplemented, \
     ControlSlycot, slycot_check
 from .frdata import FrequencyResponseData
-from .iosys import InputOutputSystem, NamedSignal, \
-    _process_iosys_keywords, _process_signal_list, _process_subsys_index, \
-    common_timebase, issiso
+from .iosys import InputOutputSystem, NamedSignal, _process_iosys_keywords, \
+    _process_signal_list, _process_subsys_index, common_timebase, issiso
 from .lti import LTI, _process_frequency_response
 from .mateqn import _check_shape
 from .nlsys import InterconnectedSystem, NonlinearIOSystem
-import control
 
 try:
     from slycot import ab13dd
diff --git a/control/stochsys.py b/control/stochsys.py
@@ -17,19 +17,19 @@
 __email__ = "murray@cds.caltech.edu"
 
 import warnings
+from math import sqrt
 
 import numpy as np
 import scipy as sp
-from math import sqrt
 
+from .config import _process_legacy_keyword
+from .exception import ControlArgument, ControlNotImplemented
+from .iosys import _process_control_disturbance_indices, _process_labels, \
+    isctime, isdtime
 from .lti import LTI
-from .iosys import (isctime, isdtime, _process_labels,
-                    _process_control_disturbance_indices)
+from .mateqn import _check_shape, care, dare
 from .nlsys import NonlinearIOSystem
-from .mateqn import care, dare, _check_shape
 from .statesp import StateSpace
-from .exception import ControlArgument, ControlNotImplemented
-from .config import _process_legacy_keyword
 
 __all__ = ['lqe', 'dlqe', 'create_estimator_iosystem', 'white_noise',
            'correlation']
diff --git a/control/sysnorm.py b/control/sysnorm.py
@@ -11,9 +11,10 @@
 Author: Henrik Sandberg
 """
 
+import warnings
+
 import numpy as np
 import numpy.linalg as la
-import warnings
 
 import control as ct
 
diff --git a/control/tests/docstrings_test.py b/control/tests/docstrings_test.py
@@ -15,12 +15,12 @@
 # desired (0 = only warnings/errors, 10 = everything).
 
 import inspect
+import re
 import sys
 import warnings
 
-import pytest
-import re
 import numpydoc.docscrape as npd
+import pytest
 
 import control
 import control.flatsys
diff --git a/control/timeplot.py b/control/timeplot.py
diff --git a/control/xferfcn.py b/control/xferfcn.py
