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add (user-oriented) release notes to Reference Manual
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‎doc/conf.py

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# -- Project information -----------------------------------------------------
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project = u'Python Control Systems Library'
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copyright = u'2024, python-control.org'
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copyright = u'2025, python-control.org'
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author = u'Python Control Developers'
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# Version information - read from the source code
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This pattern also affects html_static_path and html_extra_path .
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exclude_patterns = [u'_build', 'Thumbs.db', '.DS_Store',
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'*.ipynb_checkpoints']
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exclude_patterns = [
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u'_build', 'Thumbs.db', '.DS_Store', '*.ipynb_checkpoints',
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'releases/template.rst']
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# The name of the Pygments (syntax highlighting) style to use.
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pygments_style = 'sphinx'

‎doc/develop.rst

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ioresp = ct.input_output_response(sys, timepts, U)
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cplt = ct.bode_plot(sys, omega)
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* Use `inputs`, `outputs`, `states`, `time` for time response data
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attributes. These should be used as parameter names when creating
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`TimeResponseData` objects and also as attributes when retrieving
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response data (with dimensions dependent on `squeeze` processing).
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These are stored internally in non-squeezed form using `u`, `y`,
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`x`, and `t`, but the internal data should generally not be accessed
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directly. For example::
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* Use `inputs`, `outputs`, `states`, :code:`time` for time response
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data attributes. These should be used as parameter names when
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creating `TimeResponseData` objects and also as attributes when
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retrieving response data (with dimensions dependent on `squeeze`
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processing). These are stored internally in non-squeezed form using
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`u`, `y`, `x`, and `t`, but the internal data should generally not
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be accessed directly. For example::
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plt.plot(ioresp.time, ioresp.outputs[0])
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tresp = ct.TimeResponseData(time, outputs, states, ...) # (internal call)

‎doc/index.rst

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config
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matlab
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develop
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releases
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***********
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Development

‎doc/iosys.rst

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controller is the vector of desired states :math:`x_\text{d}`, desired
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inputs :math:`u_\text{d}`, and system states :math:`x`.
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If an `InputOutputSystem` is passed instead of the gain `K`, the error
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e = x - xd is passed to the system and the output is used as the
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feedback compensation term.
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The above design pattern is referred to as the "trajectory generation"
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('trajgen') pattern, since it assumes that the input to the controller is a
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feasible trajectory :math:`(x_\text{d}, u_\text{d})`. Alternatively, a

‎doc/releases.rst

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*************
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Release Notes
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*************
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This chapter contains a listing of the major releases of the Python
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Control Systems Library (python-control) along with a brief summary of
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the significant changes in each release.
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The information listed here is primarily intended for users. More
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detailed notes on each release, including links to individual pull
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requests and issues, are available on the `python-control GitHub
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release page
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<https://github.com/python-control/python-control/releases>`_.
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Version 0.10
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============
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Version 0.10 of the python-control package introduced the
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``_response/_plot`` pattern, described in more detail in
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:ref:`response-chapter`, in which input/output system responses
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generate an object representing the response that can then be used for
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plotting (via the ``.plot()`` method) or other uses. Significant
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changes were also made to input/output system functionality, including
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the ability to index systems and signal using signal labels.
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.. toctree::
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:maxdepth: 1
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releases/0.10.1-notes
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releases/0.10.0-notes
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Version 0.9
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===========
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Version 0.9 of the python-control package included significant
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upgrades the the `interconnect` functionality to allow automatic
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signal interconnetion and the introduction of an :ref:`optimal control
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module <optimal-module>` for optimal trajectory generation. In
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addition, the default timebase for I/O systems was set to 0 in Version
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0.9 (versus None in previous versions).
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.. toctree::
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:maxdepth: 1
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releases/0.9.4-notes
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releases/0.9.3-notes
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releases/0.9.2-notes
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releases/0.9.1-notes
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releases/0.9.0-notes
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Earlier Versions
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================
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Summary release notes are included for these collections of early
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releases of the python-control package.
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.. toctree::
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:maxdepth: 1
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releases/0.8.x-notes
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releases/0.3-7.x-notes

‎doc/releases/0.10.0-notes.rst

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.. currentmodule:: control
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.. _version-0.10.0:
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Version 0.10.0 Release Notes
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----------------------------
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* Released: 31 March 2024
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* `GitHub release page
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<https://github.com/python-control/python-control/releases/tag/0.10.0>`_
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This release changes the interface for plotting to use a
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``_response/_plot`` calling pattern, adds multivariable interconnect
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functionality, restructures I/O system classes, and adds the `norm`
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(now `system_norm`) function to compute input/output system norms.
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Support for the NumPy `~numpy.matrix` class has been removed.
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This version of `python-control` requires Python 3.10 and higher.
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New classes, functions, and methods
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...................................
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The following new classes, functions, and methods have been added in
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this release:
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* `time_response_plot`, `TimeResponseData.plot`: Plot simulation
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results for time response functions.
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* `InterconnectedSystem.connection_table`: Print out a table of each
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signal name, where it comes from (source), and where it goes
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(destination), primarily intended for systems that have been
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connected implicitly.
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* `nyquist_response`, `NyquistResponseData`: Compute the Nyquist curve
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and store in an object that can be used to retrieve information
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(e.g., `~NyquistResponseData.count`) or for plotting (via
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the `~NyquistResponseData.plot` method).
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* `describing_function_response`, `DescribingFunctionResponse`: Compute
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describing functions and store in a form that can be used for
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analysis (e.g., `~DescribingFunctionResponse.intersections`) or plotting
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(via `describing_function_plot` or the
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`~DescribingFunctionResponse.plot` method).
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* `gangof4_response`, `gangof4_plot`: Compute the Gang of Four
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response and store in a `FrequencyResponseData` object for plotting.
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* `singular_values_response`: Compute the Gang of Four response and store in a
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`FrequencyResponseData` object for plotting.
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* `FrequencyResponseData.plot`: Plot a frequency response using a Bode,
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Nichols, or singular values plot.
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* `pole_zero_map`, `PoleZeroData`: New "response" (map) functions for
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pole/zero diagrams. The output of `pole_zero_map` can be plotted
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using `pole_zero_plot` or the `~PoleZeroData.plot` method.
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* `root_locus_map`: New "response" (map) functions for root locus
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diagrams. The output of `root_locus_map` can be plotted using
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`root_locus_plot` or the `~PoleZeroData.plot` method.
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* `norm` (now `system_norm`): Compute H2 and H-infinity system norms.
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* `phase_plane_plot`: New implementation of phase
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plane plots. See :ref:`phase-plane-plots` for more information.
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Bug fixes
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.........
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The following bugs have been fixed in this release:
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* `sample_system`: Fixed a bug in which the zero frequency (DC) gain
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for the 'matched' transformation was being computed incorrectly.
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* `TimeResponseData.to_pandas`: Fixed a bug when the response did not
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have state data.
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Improvements
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............
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The following additional improvements and changes in functionality
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were implemented in this release:
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* `interconnect`: Allows a variety of "multivariable" specifications
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for connections, inputs, and outputs when systems have variables
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with names of the form 'sig[i]'.
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* `nlsys`: Factory function for `NonlinearIOSystem`.
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* Block diagram functions (`series`, `parallel`, `feedback`, `append`,
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`negate`) now work on all I/O system classes, including nonlinear
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systems.
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* Simulation functions (`initial_response`, `step_response`,
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`forced_response`) will now work for nonlinear functions (via an
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internal call to `input_output_response`).
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* Bode and Nyquist plots have been significantly enhanced in terms of
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functionality for display multiple tracing and other visual
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properties. See `bode_plot` and `nyquist_plot` for details, along
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with the :ref:`response-chapter` chapter.
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* Properties of frequecy plots can now be set using the
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`config.defaults['freqplot.rcParams']` (see
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:ref:`package-configuration-parameters` for details).
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* `create_statefbk_iosystem`: Allows passing an I/O system instead of
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the a gain (or gain schedule) for the controller.
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* `root_locus_plot`: Interactive mode is now enabled, so clicking on a
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location on the root locus curve will generate markers at the
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locations on the loci corresponding to that gain and add a message
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above the plot giving the frequency and damping ratio for the point
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that was clicked.
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* `gram`: Computation of Gramians now supports discrete-time systems.
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* All time response functions now allow the `params` keyword to be
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specified (for nonlinear I/O systems) and the parameter values used
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for generating a time response are stored in the `TimeResponseData`
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object..
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Deprecations
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............
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The following functions have been newly deprecated in this release and
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generate a warning message when used:
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* `connect`: Use `interconnect`.
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* `ss2io`, `tf2io`: These functions are no longer required since the
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`StateSpace` and `TransferFunction` classes are now subclasses of
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`NonlinearIOSystem`.
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* `root_locus_plot`, `sisotool`: the `print_gain` keyword has been
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replaced `interactive`.
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* In various plotting routines, the (already deprecated) `Plot`
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keyword is now the (still deprecated) `plot` keyword. This can be
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used to obtain legacy return values from ``_plot`` functions.
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* `phase_plot`: Use `phase_plane_plot` instead.
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The listed items are slated to be removed in future releases (usually
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the next major or minor version update.
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Removals
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........
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The following functions and capabilities have been removed in this release:
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* `use_numpy_matrix`: The `numpy.matrix` class is no longer supported.
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* `NamedIOSystem`: renamed to `InputOutputSystem`
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* `LinearIOSystem`: merged into the `StateSpace` class
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* `pole`: use `poles`. The `matlab.pole` function is still available.
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* `zero`: use `zeros`. The `matlab.zero` function is still available.
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* `timebaseEqual`: use `common_timebase`.
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* The `impulse_response` function no longer accepts the `X0` keyword.
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* The `initial_response` function no longer accepts the :code:`input`
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keyword.
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* The deprecated default parameters 'bode.dB', 'bode.deg',
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'bode.grid', and 'bode.wrap_phase' have been removed. They should
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be accessed as 'freqplot.dB', 'freqplot.deg', 'freqplot.grid', and
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'freqplot.wrap_phase'.
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* Recalculation of the root locus plot when zooming no longer works
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(you can still zoom in and out, you just don't get a recalculated
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curve).
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Code that makes use of the functionality listed above will have to be
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rewritten to work with this release of the python-control package.

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