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Implement okid#1031

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KybernetikJo wants to merge 2 commits into
python-control:mainfrom
KybernetikJo:implement_okid
Draft

Implement okid#1031
KybernetikJo wants to merge 2 commits into
python-control:mainfrom
KybernetikJo:implement_okid

Add sphinx doc

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