fix and update scipy intersphinx references

bnavigator · laurensvalk · commit c13cc8066bcf · 2020-08-15T13:45:26.000+02:00
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -128,21 +128,22 @@ def bode_plot(syslist, omega=None,
     ----------------
     grid : bool
         If True, plot grid lines on gain and phase plots.  Default is set by
-        config.defaults['bode.grid'].
+        `config.defaults['bode.grid']`.
+
 
     The default values for Bode plot configuration parameters can be reset
     using the `config.defaults` dictionary, with module name 'bode'.
 
     Notes
     -----
-    1. Alternatively, you may use the lower-level method (mag, phase, freq)
-    = sys.freqresp(freq) to generate the frequency response for a system,
-    but it returns a MIMO response.
+    1. Alternatively, you may use the lower-level method
+       ``(mag, phase, freq) = sys.freqresp(freq)`` to generate the frequency
+       response for a system, but it returns a MIMO response.
 
     2. If a discrete time model is given, the frequency response is plotted
-    along the upper branch of the unit circle, using the mapping z = exp(j
-    \\omega dt) where omega ranges from 0 to pi/dt and dt is the discrete
-    timebase.  If not timebase is specified (dt = True), dt is set to 1.
+       along the upper branch of the unit circle, using the mapping z = exp(j
+       \\omega dt) where omega ranges from 0 to pi/dt and dt is the discrete
+       timebase.  If not timebase is specified (dt = True), dt is set to 1.
 
     Examples
     --------
@@ -539,13 +540,13 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
                 ax = plt.gca()
                 # Plot arrow to indicate Nyquist encirclement orientation
                 ax.arrow(x[0], y[0], (x[1]-x[0])/2, (y[1]-y[0])/2, fc=c, ec=c,
-                         head_width=arrowhead_width, 
+                         head_width=arrowhead_width,
                          head_length=arrowhead_length)
 
                 plt.plot(x, -y, '-', color=c, *args, **kwargs)
                 ax.arrow(
                     x[-1], -y[-1], (x[-1]-x[-2])/2, (y[-1]-y[-2])/2,
-                    fc=c, ec=c, head_width=arrowhead_width, 
+                    fc=c, ec=c, head_width=arrowhead_width,
                     head_length=arrowhead_length)
 
                 # Mark the -1 point
diff --git a/control/iosys.py b/control/iosys.py
@@ -1514,8 +1514,9 @@ def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
     return_y : bool, optional
         If True, return the value of output at the equilibrium point.
     return_result : bool, optional
-        If True, return the `result` option from the scipy root function used
-        to compute the equilibrium point.
+        If True, return the `result` option from the
+        :func:`scipy.optimize.root` function used to compute the equilibrium
+        point.
 
     Returns
     -------
@@ -1529,9 +1530,9 @@ def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
         If `return_y` is True, returns the value of the outputs at the
         equilibrium point, or `None` if no equilibrium point was found and
         `return_result` was False.
-    result : scipy root() result object, optional
-        If `return_result` is True, returns the `result` from the scipy root
-        function.
+    result : :class:`scipy.optimize.OptimizeResult`, optional
+        If `return_result` is True, returns the `result` from the
+        :func:`scipy.optimize.root` function.
 
     """
     from scipy.optimize import root
diff --git a/control/phaseplot.py b/control/phaseplot.py
@@ -73,7 +73,7 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
     func : callable(x, t, ...)
         Computes the time derivative of y (compatible with odeint).
         The function should be the same for as used for
-        scipy.integrate.  Namely, it should be a function of the form
+        :mod:`scipy.integrate`.  Namely, it should be a function of the form
         dxdt = F(x, t) that accepts a state x of dimension 2 and
         returns a derivative dx/dt of dimension 2.
 
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -53,6 +53,7 @@
 # Pole placement
 def place(A, B, p):
     """Place closed loop eigenvalues
+
     K = place(A, B, p)
 
     Parameters
@@ -69,21 +70,24 @@ def place(A, B, p):
     K : 2-d array
         Gain such that A - B K has eigenvalues given in p
 
-    Algorithm
-    ---------
-    This is a wrapper function for scipy.signal.place_poles, which
-    implements the Tits and Yang algorithm [1]. It will handle SISO,
-    MISO, and MIMO systems. If you want more control over the algorithm,
-    use scipy.signal.place_poles directly.
 
-    [1] A.L. Tits and Y. Yang, "Globally convergent algorithms for robust
-    pole assignment by state feedback, IEEE Transactions on Automatic
-    Control, Vol. 41, pp. 1432-1452, 1996.
+    Notes
+    -----
+    Algorithm
+        This is a wrapper function for :func:`scipy.signal.place_poles`, which
+        implements the Tits and Yang algorithm [1]_. It will handle SISO,
+        MISO, and MIMO systems. If you want more control over the algorithm,
+        use :func:`scipy.signal.place_poles` directly.
 
     Limitations
-    -----------
-    The algorithm will not place poles at the same location more
-    than rank(B) times.
+        The algorithm will not place poles at the same location more
+        than rank(B) times.
+
+    References
+    ----------
+    .. [1] A.L. Tits and Y. Yang, "Globally convergent algorithms for robust
+       pole assignment by state feedback, IEEE Transactions on Automatic
+       Control, Vol. 41, pp. 1432-1452, 1996.
 
     Examples
     --------
@@ -228,10 +232,10 @@ def lqe(A, G, C, QN, RN, NN=None):
     systems. Given the system
 
     .. math::
-    
+
         x &= Ax + Bu + Gw \\\\
         y &= Cx + Du + v
-     
+
     with unbiased process noise w and measurement noise v with covariances
 
     .. math::       E{ww'} = QN,    E{vv'} = RN,    E{wv'} = NN
@@ -264,9 +268,10 @@ def lqe(A, G, C, QN, RN, NN=None):
         .. math::
 
             A P + P A^T - (P C^T + G N) R^{-1}  (C P + N^T G^T) + G Q G^T = 0
+
     E: 1D array
         Eigenvalues of estimator poles eig(A - L C)
-        
+
 
     Examples
     --------
@@ -383,7 +388,7 @@ def lqr(*args, **keywords):
     See Also
     --------
     lqe
-    
+
     """
 
     # Make sure that SLICOT is installed
diff --git a/control/statesp.py b/control/statesp.py
@@ -72,7 +72,7 @@
 _statesp_defaults = {
     'statesp.use_numpy_matrix': True,
     'statesp.default_dt': None,
-    'statesp.remove_useless_states': True, 
+    'statesp.remove_useless_states': True,
     }
 
 
@@ -149,7 +149,7 @@ class StateSpace(LTI):
     Setting dt = 0 specifies a continuous system, while leaving dt = None
     means the system timebase is not specified.  If 'dt' is set to True, the
     system will be treated as a discrete time system with unspecified sampling
-    time. The default value of 'dt' is None and can be changed by changing the 
+    time. The default value of 'dt' is None and can be changed by changing the
     value of ``control.config.defaults['statesp.default_dt']``.
 
     """
@@ -788,15 +788,15 @@ def minreal(self, tol=0.0):
 
     # TODO: add discrete time check
     def returnScipySignalLTI(self):
-        """Return a list of a list of scipy.signal.lti objects.
+        """Return a list of a list of :class:`scipy.signal.lti` objects.
 
         For instance,
 
         >>> out = ssobject.returnScipySignalLTI()
         >>> out[3][5]
 
-        is a signal.scipy.lti object corresponding to the transfer function from
-        the 6th input to the 4th output."""
+        is a :class:`scipy.signal.lti` object corresponding to the transfer
+        function from the 6th input to the 4th output."""
 
         # Preallocate the output.
         out = [[[] for _ in range(self.inputs)] for _ in range(self.outputs)]
@@ -809,8 +809,9 @@ def returnScipySignalLTI(self):
         return out
 
     def append(self, other):
-        """Append a second model to the present model. The second
-        model is converted to state-space if necessary, inputs and
+        """Append a second model to the present model.
+
+        The second model is converted to state-space if necessary, inputs and
         outputs are appended and their order is preserved"""
         if not isinstance(other, StateSpace):
             other = _convertToStateSpace(other)
@@ -870,8 +871,8 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
 
         prewarp_frequency : float within [0, infinity)
             The frequency [rad/s] at which to match with the input continuous-
-            time system's magnitude and phase (the gain=1 crossover frequency, 
-            for example). Should only be specified with method='bilinear' or 
+            time system's magnitude and phase (the gain=1 crossover frequency,
+            for example). Should only be specified with method='bilinear' or
             'gbt' with alpha=0.5 and ignored otherwise.
 
         Returns
@@ -881,7 +882,7 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
 
         Notes
         -----
-        Uses the command 'cont2discrete' from scipy.signal
+        Uses :func:`scipy.signal.cont2discrete`
 
         Examples
         --------
@@ -896,7 +897,7 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
         if (method=='bilinear' or (method=='gbt' and alpha==0.5)) and \
                 prewarp_frequency is not None:
             Twarp = 2*np.tan(prewarp_frequency*Ts/2)/prewarp_frequency
-        else: 
+        else:
             Twarp = Ts
         Ad, Bd, C, D, _ = cont2discrete(sys, Twarp, method, alpha)
         return StateSpace(Ad, Bd, C, D, Ts)
diff --git a/control/xferfcn.py b/control/xferfcn.py
@@ -93,8 +93,8 @@ class TransferFunction(LTI):
     instance variable and setting it to something other than 'None'.  If 'dt'
     has a non-zero value, then it must match whenever two transfer functions
     are combined.  If 'dt' is set to True, the system will be treated as a
-    discrete time system with unspecified sampling time. The default value of 
-    'dt' is None and can be changed by changing the value of 
+    discrete time system with unspecified sampling time. The default value of
+    'dt' is None and can be changed by changing the value of
     ``control.config.defaults['xferfcn.default_dt']``.
 
     The TransferFunction class defines two constants ``s`` and ``z`` that
@@ -802,14 +802,14 @@ def minreal(self, tol=None):
         return TransferFunction(num, den, self.dt)
 
     def returnScipySignalLTI(self):
-        """Return a list of a list of scipy.signal.lti objects.
+        """Return a list of a list of :class:`scipy.signal.lti` objects.
 
         For instance,
 
         >>> out = tfobject.returnScipySignalLTI()
         >>> out[3][5]
 
-        is a signal.scipy.lti object corresponding to the
+        is a class:`scipy.signal.lti` object corresponding to the
         transfer function from the 6th input to the 4th output.
 
         """
@@ -1016,11 +1016,11 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
             The generalized bilinear transformation weighting parameter, which
             should only be specified with method="gbt", and is ignored
             otherwise.
-        
+
         prewarp_frequency : float within [0, infinity)
             The frequency [rad/s] at which to match with the input continuous-
-            time system's magnitude and phase (the gain=1 crossover frequency, 
-            for example). Should only be specified with method='bilinear' or 
+            time system's magnitude and phase (the gain=1 crossover frequency,
+            for example). Should only be specified with method='bilinear' or
             'gbt' with alpha=0.5 and ignored otherwise.
 
         Returns
@@ -1032,7 +1032,7 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
         -----
         1. Available only for SISO systems
 
-        2. Uses the command `cont2discrete` from `scipy.signal`
+        2. Uses :func:`scipy.signal.cont2discrete`
 
         Examples
         --------
@@ -1050,7 +1050,7 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None):
         if (method=='bilinear' or (method=='gbt' and alpha==0.5)) and \
                 prewarp_frequency is not None:
             Twarp = 2*np.tan(prewarp_frequency*Ts/2)/prewarp_frequency
-        else: 
+        else:
             Twarp = Ts
         numd, dend, _ = cont2discrete(sys, Twarp, method, alpha)
         return TransferFunction(numd[0, :], dend, Ts)
diff --git a/doc/conf.py b/doc/conf.py
@@ -30,7 +30,7 @@
 # -- Project information -----------------------------------------------------
 
 project = u'Python Control Systems Library'
-copyright = u'2019, python-control.org'
+copyright = u'2020, python-control.org'
 author = u'Python Control Developers'
 
 # Version information - read from the source code
@@ -55,7 +55,7 @@
 # ones.
 extensions = [
     'sphinx.ext.autodoc', 'sphinx.ext.todo', 'sphinx.ext.napoleon',
-    'sphinx.ext.intersphinx', 'sphinx.ext.imgmath', 
+    'sphinx.ext.intersphinx', 'sphinx.ext.imgmath',
     'sphinx.ext.autosummary', 'nbsphinx',
 ]
 
@@ -64,7 +64,8 @@
 
 # list of autodoc directive flags that should be automatically applied
 # to all autodoc directives.
-autodoc_default_flags = ['members', 'inherited-members']
+autodoc_default_options = {'members': True,
+                           'inherited-members': True}
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -94,14 +95,14 @@
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = 'sphinx'
 
-#This config value contains the locations and names of other projects that 
-#should be linked to in this documentation.
+# This config value contains the locations and names of other projects that
+# should be linked to in this documentation.
 intersphinx_mapping = \
-    {'scipy':('https://docs.scipy.org/doc/scipy/reference', None),
-     'numpy':('https://docs.scipy.org/doc/numpy', None)}
+    {'scipy': ('https://docs.scipy.org/doc/scipy/reference', None),
+     'numpy': ('https://docs.scipy.org/doc/numpy', None)}
 
-#If this is True, todo and todolist produce output, else they produce nothing. 
-#The default is False.
+# If this is True, todo and todolist produce output, else they produce nothing.
+# The default is False.
 todo_include_todos = True
 
 
@@ -189,8 +190,3 @@
      author, 'PythonControlLibrary', 'One line description of project.',
      'Miscellaneous'),
 ]
-
-
-# -- Extension configuration -------------------------------------------------
-
-# -- Options for intersphinx extension ---------------------------------------
