doc inconsistency about return type of lqr - matrix vs array

I think the doc about the return type of the lqr function looks inconsistent:

states that K is a 2-d array. But it looks a lot like a matrix actually :)

>>> K, _, _ = control.lqr(np.array([1]), np.array([1]), np.array([1]), np.array([1]))
>>> K
matrix([[2.41421356]])

This is Python 3.6.9, control 0.8.3, Ubuntu 18.04 defaults.

This leads to possibly subtle bugs:

Do you think it may be a good idea to 1) update the doc 2) maybe change from matrix to array output altogether? :)

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