update docstrings and user documentation

murrayrm · murrayrm · commit 77a75a64971a · 2023-06-10T10:17:58.000-07:00
diff --git a/control/config.py b/control/config.py
@@ -202,7 +202,6 @@ def use_matlab_defaults():
     The following conventions are used:
         * Bode plots plot gain in dB, phase in degrees, frequency in
           rad/sec, with grids
-        * State space class and functions use Numpy matrix objects
 
     Examples
     --------
diff --git a/control/iosys.py b/control/iosys.py
@@ -2227,8 +2227,6 @@ def ss(*args, **kwargs):
               y[k] &= C x[k] + D u[k]
 
         The matrices can be given as *array like* data types or strings.
-        Everything that the constructor of :class:`numpy.matrix` accepts is
-        permissible here too.
 
     ``ss(args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])``
         Create a system with named input, output, and state signals.
diff --git a/control/statesp.py b/control/statesp.py
@@ -453,10 +453,6 @@ def _remove_useless_states(self):
         """
 
         # Search for useless states and get indices of these states.
-        #
-        # Note: shape from np.where depends on whether we are storing state
-        # space objects as np.matrix or np.array.  Code below will work
-        # correctly in either case.
         ax1_A = np.where(~self.A.any(axis=1))[0]
         ax1_B = np.where(~self.B.any(axis=1))[0]
         ax0_A = np.where(~self.A.any(axis=0))[-1]
@@ -488,12 +484,11 @@ def __str__(self):
         return string
 
     # represent to implement a re-loadable version
-    # TODO: remove the conversion to array when matrix is no longer used
     def __repr__(self):
         """Print state-space system in loadable form."""
         return "StateSpace({A}, {B}, {C}, {D}{dt})".format(
-            A=asarray(self.A).__repr__(), B=asarray(self.B).__repr__(),
-            C=asarray(self.C).__repr__(), D=asarray(self.D).__repr__(),
+            A=self.A.__repr__(), B=self.B.__repr__(),
+            C=self.C.__repr__(), D=self.D.__repr__(),
             dt=(isdtime(self, strict=True) and ", {}".format(self.dt)) or '')
 
     def _latex_partitioned_stateless(self):
diff --git a/control/stochsys.py b/control/stochsys.py
@@ -87,9 +87,9 @@ def lqe(*args, **kwargs):
 
     Returns
     -------
-    L : 2D array (or matrix)
+    L : 2D array
         Kalman estimator gain
-    P : 2D array (or matrix)
+    P : 2D array
         Solution to Riccati equation
 
         .. math::
@@ -221,9 +221,9 @@ def dlqe(*args, **kwargs):
 
     Returns
     -------
-    L : 2D array (or matrix)
+    L : 2D array
         Kalman estimator gain
-    P : 2D array (or matrix)
+    P : 2D array
         Solution to Riccati equation
 
         .. math::
diff --git a/doc/control.rst b/doc/control.rst
@@ -197,6 +197,5 @@ Utility functions and conversions
     unwrap
     use_fbs_defaults
     use_matlab_defaults
-    use_numpy_matrix
 
 
diff --git a/doc/conventions.rst b/doc/conventions.rst
@@ -303,9 +303,6 @@ Selected variables that can be configured, along with their default values:
   * freqplot.feature_periphery_decade (1.0): How many decades to include in
     the frequency range on both sides of features (poles, zeros).
 
-  * statesp.use_numpy_matrix (True): set the return type for state space
-    matrices to `numpy.matrix` (verus numpy.ndarray)
-
   * statesp.default_dt and xferfcn.default_dt (None): set the default value
     of dt when constructing new LTI systems
 
@@ -322,5 +319,4 @@ Functions that can be used to set standard configurations:
     reset_defaults
     use_fbs_defaults
     use_matlab_defaults
-    use_numpy_matrix
     use_legacy_defaults
