python-control
diff --git a/‎examples/Makefile‎
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diff --git a/‎examples/cds112-W1_python-control.ipynb‎ ‎examples/cds112-L1_python-control.ipynb‎examples/cds112-W1_python-control.ipynb renamed to examples/cds112-L1_python-control.ipynb
Lines changed: 1 addition & 1 deletion b/‎examples/cds112-W1_python-control.ipynb‎ ‎examples/cds112-L1_python-control.ipynb‎examples/cds112-W1_python-control.ipynb renamed to examples/cds112-L1_python-control.ipynb
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diff --git a/‎examples/cds112-W2_flatness.ipynb‎ ‎examples/cds112-L2a_flatness.ipynb‎examples/cds112-W2_flatness.ipynb renamed to examples/cds112-L2a_flatness.ipynb b/‎examples/cds112-W2_flatness.ipynb‎ ‎examples/cds112-L2a_flatness.ipynb‎examples/cds112-W2_flatness.ipynb renamed to examples/cds112-L2a_flatness.ipynb
diff --git a/‎examples/cds112-W2_gainsched.ipynb‎ ‎examples/cds112-L2b_gainsched.ipynb‎examples/cds112-W2_gainsched.ipynb renamed to examples/cds112-L2b_gainsched.ipynb b/‎examples/cds112-W2_gainsched.ipynb‎ ‎examples/cds112-L2b_gainsched.ipynb‎examples/cds112-W2_gainsched.ipynb renamed to examples/cds112-L2b_gainsched.ipynb
diff --git a/‎examples/cds112-W3_linquad.ipynb‎ ‎examples/cds112-L3a_linquad.ipynb‎examples/cds112-W3_linquad.ipynb renamed to examples/cds112-L3a_linquad.ipynb b/‎examples/cds112-W3_linquad.ipynb‎ ‎examples/cds112-L3a_linquad.ipynb‎examples/cds112-W3_linquad.ipynb renamed to examples/cds112-L3a_linquad.ipynb
diff --git a/‎examples/cds112-W3_optimal.ipynb‎ ‎examples/cds112-L3b_optimal.ipynb‎examples/cds112-W3_optimal.ipynb renamed to examples/cds112-L3b_optimal.ipynb b/‎examples/cds112-W3_optimal.ipynb‎ ‎examples/cds112-L3b_optimal.ipynb‎examples/cds112-W3_optimal.ipynb renamed to examples/cds112-L3b_optimal.ipynb
diff --git a/‎examples/cds112-W4_lqr-tracking.ipynb‎ ‎examples/cds112-L4a_lqr-tracking.ipynb‎examples/cds112-W4_lqr-tracking.ipynb renamed to examples/cds112-L4a_lqr-tracking.ipynb b/‎examples/cds112-W4_lqr-tracking.ipynb‎ ‎examples/cds112-L4a_lqr-tracking.ipynb‎examples/cds112-W4_lqr-tracking.ipynb renamed to examples/cds112-L4a_lqr-tracking.ipynb
diff --git a/‎examples/cds112-W4_pvtol-lqr.ipynb‎ ‎examples/cds112-L4b_pvtol-lqr.ipynb‎examples/cds112-W4_pvtol-lqr.ipynb renamed to examples/cds112-L4b_pvtol-lqr.ipynb b/‎examples/cds112-W4_pvtol-lqr.ipynb‎ ‎examples/cds112-L4b_pvtol-lqr.ipynb‎examples/cds112-W4_pvtol-lqr.ipynb renamed to examples/cds112-L4b_pvtol-lqr.ipynb
diff --git a/‎examples/cds112-W5_rhc-doubleint.ipynb‎ ‎examples/cds112-L5_rhc-doubleint.ipynb‎examples/cds112-W5_rhc-doubleint.ipynb renamed to examples/cds112-L5_rhc-doubleint.ipynb b/‎examples/cds112-W5_rhc-doubleint.ipynb‎ ‎examples/cds112-L5_rhc-doubleint.ipynb‎examples/cds112-W5_rhc-doubleint.ipynb renamed to examples/cds112-L5_rhc-doubleint.ipynb
diff --git a/‎…amples/cds112-W6_stochastic-linsys.ipynb‎ ‎…amples/cds112-L6_stochastic-linsys.ipynb‎examples/cds112-W6_stochastic-linsys.ipynb renamed to examples/cds112-L6_stochastic-linsys.ipynb
Lines changed: 9 additions & 7 deletions b/‎…amples/cds112-W6_stochastic-linsys.ipynb‎ ‎…amples/cds112-L6_stochastic-linsys.ipynb‎examples/cds112-W6_stochastic-linsys.ipynb renamed to examples/cds112-L6_stochastic-linsys.ipynb
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@@ -4,7 +4,7 @@
 # This makefile allows cleanup and posting of Jupyter notebooks into
 # Google Colab.
 
-NOTEBOOKS = cds110-L*_*.ipynb cds112-W*_*.ipynb
+NOTEBOOKS = cds110-L*_*.ipynb cds112-L*_*.ipynb
 GDRIVE= gdrive:projects/python-control/public/notebooks
 
 # Clean up notebooks to remove output
 
@@ -82,7 +82,7 @@
     "\n",
     "where $x$ is the state vector for the system, $u$ represents the vector of inputs, and $y$ represents the vector of outputs.\n",
     "\n",
-    "The python-control package allows definition of input/output sytems using the `InputOutputSystem` class and its various subclasess, including the `NonlinearIOSystem` class that we use here.  A `NonlinearIOSystem` object is created by defining the update law ($f(x, u)$) and the output map ($h(x, u)$), and then calling the factor function `ct.nlsys`.\n",
+    "The python-control package allows definition of input/output sytems using the `InputOutputSystem` class and its various subclasess, including the `NonlinearIOSystem` class that we use here.  A `NonlinearIOSystem` object is created by defining the update law ($f(x, u)$) and the output map ($h(x, u)$), and then calling the factory function `ct.nlsys`.\n",
     "\n",
     "For the example in this notebook, we will be controlling the steering of a vehicle, using a \"bicycle\" model for the dynamics of the vehicle.  A more complete description of the dynamics of this system are available in [Example 3.11](https://fbswiki.org/wiki/index.php/System_Modeling) of [_Feedback Systems_](https://fbswiki.org/wiki/index.php/FBS) by Astrom and Murray (2020)."
    ]
 
@@ -131,8 +131,8 @@
     "def r(tau):\n",
     "    return c**2 * Q / (2 * a) * exp(-a * abs(tau))\n",
     "    \n",
-    "print(\"* mean(Y) [%0.3g] = %0.3g\" % (0, np.mean(Y)))\n",
-    "print(\"* cov(Y) [%0.3g] = %0.3g\" % (r(0), np.cov(Y)))"
+    "print(\"* mean(Y) [%0.3g] = %0.3g\" % (0, np.mean(Y).item()))\n",
+    "print(\"* cov(Y) [%0.3g] = %0.3g\" % (r(0).item(), np.cov(Y).item()))"
    ]
   },
   {
@@ -286,8 +286,8 @@
     "fig, axs = plt.subplots(1, 2)\n",
     "axs[0].plot(tau, R)\n",
     "axs[0].plot(tau, dryden_corrfcn(tau))\n",
-    "axs[0].set_xlabel(\"$\\tau$\")\n",
-    "axs[0].set_ylabel(\"$r(\\tau)$\")\n",
+    "axs[0].set_xlabel(r\"$\\tau$\")\n",
+    "axs[0].set_ylabel(r\"$r(\\tau)$\")\n",
     "axs[0].set_title(\"Correlation function\")\n",
     "\n",
     "# Compute the power spectral density\n",
@@ -302,9 +302,11 @@
     "# Plot the power spectral density\n",
     "axs[1].loglog(omega[1:], np.abs(S[1:]))\n",
     "axs[1].loglog(omega[1:], dryden_psd(omega[1:]))\n",
-    "axs[0].set_xlabel(\"$\\omega$ [rad/sec]$\")\n",
-    "axs[0].set_ylabel(\"$S(\\omega)$\")\n",
-    "axs[0].set_title(\"Power spectral density\");"
+    "axs[1].set_xlabel(r\"$\\omega$ [rad/sec]\")\n",
+    "axs[1].set_ylabel(r\"$S(\\omega)$\")\n",
+    "axs[1].set_title(\"Power spectral density\")\n",
+    "\n",
+    "plt.tight_layout()"
    ]
   },
   {
Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,7 @@`
`82`	`82`	`"\n",`
`83`	`83`	`"where $x$ is the state vector for the system, $u$ represents the vector of inputs, and $y$ represents the vector of outputs.\n",`
`84`	`84`	`"\n",`
`85`		- "The python-control package allows definition of input/output sytems using the `InputOutputSystem` class and its various subclasess, including the `NonlinearIOSystem` class that we use here. A `NonlinearIOSystem` object is created by defining the update law ($f(x, u)$) and the output map ($h(x, u)$), and then calling the factor function `ct.nlsys`.\n",
	`85`	+ "The python-control package allows definition of input/output sytems using the `InputOutputSystem` class and its various subclasess, including the `NonlinearIOSystem` class that we use here. A `NonlinearIOSystem` object is created by defining the update law ($f(x, u)$) and the output map ($h(x, u)$), and then calling the factory function `ct.nlsys`.\n",
`86`	`86`	`"\n",`
`87`	`87`	`"For the example in this notebook, we will be controlling the steering of a vehicle, using a \"bicycle\" model for the dynamics of the vehicle. A more complete description of the dynamics of this system are available in [Example 3.11](https://fbswiki.org/wiki/index.php/System_Modeling) of [_Feedback Systems_](https://fbswiki.org/wiki/index.php/FBS) by Astrom and Murray (2020)."`
`88`	`88`	`]`