Merge branch 'main' into rlocus-k

gdmcbain · gdmcbain · commit 12865cfc634c · 2024-05-22T16:58:10.000+10:00
diff --git a/control/lti.py b/control/lti.py
@@ -120,7 +120,8 @@ def frequency_response(self, omega=None, squeeze=None):
         response = self(s)
         return FrequencyResponseData(
             response, omega, return_magphase=True, squeeze=squeeze,
-            dt=self.dt, sysname=self.name, plot_type='bode')
+            dt=self.dt, sysname=self.name, inputs=self.input_labels,
+            outputs=self.output_labels, plot_type='bode')
 
     def dcgain(self):
         """Return the zero-frequency gain"""
diff --git a/control/matlab/wrappers.py b/control/matlab/wrappers.py
@@ -197,19 +197,19 @@ def _parse_freqplot_args(*args):
 
 # TODO: rewrite to call root_locus_map, without using legacy plot keyword
 def rlocus(*args, **kwargs):
-    """rlocus(sys[, klist, xlim, ylim, ...])
+    """rlocus(sys[, gains, xlim, ylim, ...])
 
     Root locus diagram.
 
     Calculate the root locus by finding the roots of 1 + k * G(s) where G
     is a linear system with transfer function num(s)/den(s) and each k is
-    an element of kvect.
+    an element of gains.
 
     Parameters
     ----------
     sys : LTI object
         Linear input/output systems (SISO only, for now).
-    kvect : array_like, optional
+    gains : array_like, optional
         Gains to use in computing plot of closed-loop poles.
     xlim : tuple or list, optional
         Set limits of x axis, normally with tuple
@@ -224,7 +224,7 @@ def rlocus(*args, **kwargs):
         Closed-loop root locations, arranged in which each row corresponds
         to a gain in gains.
     gains : ndarray
-        Gains used.  Same as kvect keyword argument if provided.
+        Gains used.  Same as gains keyword argument if provided.
 
     Notes
     -----
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -195,7 +195,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
     >>> B = [[0], [1]]
     >>> K = place_varga(A, B, [-2, -5])
 
-    See Also:
+    See Also
     --------
     place, acker
 
diff --git a/control/xferfcn.py b/control/xferfcn.py
@@ -1687,7 +1687,7 @@ def zpk(zeros, poles, gain, *args, **kwargs):
     zeros : array_like
         Array containing the location of zeros.
     poles : array_like
-        Array containing the location of zeros.
+        Array containing the location of poles.
     gain : float
         System gain
     dt : None, True or float, optional
diff --git a/doc/control.rst b/doc/control.rst
@@ -124,6 +124,7 @@ Control system synthesis
     lqr
     mixsyn
     place
+    place_varga
     rootlocus_pid_designer
 
 Model simplification tools
