change ab05nd docstring sections to numpydoc style

Author: KybernetikJo

slycot/analysis.py

@@ -319,71 +319,77 @@ def ab05nd(n1,m1,p1,n2,A1,B1,C1,D1,A2,B2,C2,D2,alpha=1.0,ldwork=None):
     To obtain the state-space model (A,B,C,D) for the feedback inter-connection
     of two systems, each given in state-space form.
 
-    Required arguments:
-        n1 : input int
-            The number of state variables in the first system, i.e. the order
-            of the matrix A1.  n1 > 0.
-        m1 : input int
-            The number of input variables for the first system and the number
-            of output variables from the second system. m1 > 0.
-        p1 : input int
-            The number of output variables from the first system and the number
-            of input variables for the second system. p1 > 0.
-        n2 : input int
-            The number of state variables in the second system, i.e. the order
-            of the matrix A2.  n2 > 0.
-        A1 : input rank-2 array('d') with bounds (n1,n1)
-            The leading n1-by-n1 part of this array must contain the state
-            transition matrix A1 for the first system.
-        B1 : input rank-2 array('d') with bounds (n1,m1)
-            The leading n1-by-m1 part of this array must contain the input/state
-            matrix B1 for the first system.
-        C1 : input rank-2 array('d') with bounds (p1,n1)
-            The leading p1-by-n1 part of this array must contain the state/output
-            matrix C1 for the first system.
-        D1 : input rank-2 array('d') with bounds (p1,m1)
-            The leading p1-by-m1 part of this array must contain the input/output
-            matrix D1 for the first system.
-        A2 : input rank-2 array('d') with bounds (n2,n2)
-            The leading n2-by-n2 part of this array must contain the state
-            transition matrix A2 for the second system.
-        B2 : input rank-2 array('d') with bounds (n2,p1)
-            The leading n2-by-p1 part of this array must contain the input/state
-            matrix B2 for the second system.
-        C2 : input rank-2 array('d') with bounds (m1,n2)
-            The leading m1-by-n2 part of this array must contain the state/output
-            matrix C2 for the second system.
-        D2 : input rank-2 array('d') with bounds (m1,p1)
-            The leading m1-by-p1 part of this array must contain the input/output
-            matrix D2 for the second system.
-    Optional arguments:
-        alpha := 1.0 input float
-            A coefficient multiplying the transfer-function matrix (or the
-            output equation) of the second system. i.e alpha = +1 corresponds
-            to positive feedback, and alpha = -1 corresponds to negative
-            feedback.
-        ldwork := max(p1*p1,m1*m1,n1*p1) input int
-            The length of the cache array. ldwork >= max(p1*p1,m1*m1,n1*p1).
-    Return objects:
-        n : int
-            The number of state variables (n1 + n2) in the connected system, i.e.
-            the order of the matrix A, the number of rows of B and the number of
-            columns of C.
-        A : rank-2 array('d') with bounds (n1+n2,n1+n2)
-            The leading n-by-n part of this array contains the state transition
-            matrix A for the connected system.
-        B : rank-2 array('d') with bounds (n1+n2,m1)
-            The leading n-by-m1 part of this array contains the input/state
-            matrix B for the connected system.
-        C : rank-3 array('d') with bounds (p1,n1,n2)
-            The leading p1-by-n part of this array contains the state/output
-            matrix C for the connected system.
-        D : rank-2 array('d') with bounds (p1,m1)
-            The leading p1-by-m1 part of this array contains the input/output
-            matrix D for the connected system.
+    Parameters
+    ----------
+    n1 : int
+        The number of state variables in the first system, i.e. the order
+        of the matrix A1.  n1 > 0.
+    m1 : int
+        The number of input variables for the first system and the number
+        of output variables from the second system. m1 > 0.
+    p1 : int
+        The number of output variables from the first system and the number
+        of input variables for the second system. p1 > 0.
+    n2 : int
+        The number of state variables in the second system, i.e. the order
+        of the matrix A2.  n2 > 0.
+    A1 : (n1,n1) array_like
+        The leading n1-by-n1 part of this array must contain the state
+        transition matrix A1 for the first system.
+    B1 : (n1,m1) array_like
+        The leading n1-by-m1 part of this array must contain the input/state
+        matrix B1 for the first system.
+    C1 : (p1,n1) array_like
+        The leading p1-by-n1 part of this array must contain the state/output
+        matrix C1 for the first system.
+    D1 : (p1,m1) array_like
+        The leading p1-by-m1 part of this array must contain the input/output
+        matrix D1 for the first system.
+    A2 : (n2,n2) array_like
+        The leading n2-by-n2 part of this array must contain the state
+        transition matrix A2 for the second system.
+    B2 : (n2,p1) array_like
+        The leading n2-by-p1 part of this array must contain the input/state
+        matrix B2 for the second system.
+    C2 : (m1,n2) array_like
+        The leading m1-by-n2 part of this array must contain the state/output
+        matrix C2 for the second system.
+    D2 : (m1,p1) array_like
+        The leading m1-by-p1 part of this array must contain the input/output
+        matrix D2 for the second system.
+    alpha : float, optional
+        A coefficient multiplying the transfer-function matrix (or the
+        output equation) of the second system. i.e alpha = +1 corresponds
+        to positive feedback, and alpha = -1 corresponds to negative
+        feedback.
+        Default is `1.0`.
+    ldwork : int, optional
+        The length of the cache array. ldwork >= max(p1*p1,m1*m1,n1*p1).
+        Default is max(p1*p1,m1*m1,n1*p1).
+
+    Returns
+    -------
+    n : int
+        The number of state variables (n1 + n2) in the connected system, i.e.
+        the order of the matrix A, the number of rows of B and the number of
+        columns of C.
+    A : (n1+n2,n1+n2) ndarray
+        The leading n-by-n part of this array contains the state transition
+        matrix A for the connected system.
+    B : (n1+n2,m1) ndarray
+        The leading n-by-m1 part of this array contains the input/state
+        matrix B for the connected system.
+    C : (p1,n1,n2) ndarray
+        The leading p1-by-n part of this array contains the state/output
+        matrix C for the connected system.
+    D : (p1,m1) ndarray
+        The leading p1-by-m1 part of this array contains the input/output
+        matrix D for the connected system.
 
     Raises
     ------
+    SlycotParameterError
+        :info = -i: the i-th argument had an illegal value
     SlycotArithmeticError
         :1 <= info <= p1:
             the system is not completely controllable. That is, the matrix