Releasenotes (#566)

* Avoid unnecessarily large realization for feedback of TransferFunction (#485)

* Avoid unnecessarily large realization for feedback of TransferFunction

* Fix and added more tests.

* Change to numpoly, denpoly

* add dev brach to PR CI

* Switch u layout (#480)

* switch u layout for lsim

* Update src/timeresp.jl

Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>

* More updates, one error in test_timeresp

* Fix tests

* Change to AbstractVecOrMat

* Catch CuArray in matrix conversion

* General zero vectors for x0 to support GPUs

* Update src/timeresp.jl

Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

* Update src/timeresp.jl

Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

* Move f outside lsim

* Remove GPU compatible x0, save for later

* Fix doctest

* add kwargs

* Remove variable and generalize type

Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

* Gangof4 fixes (#486)

* QOL improvements for plotting

* remove spurious getindex

* update docstring

* multiple Ms in nyquist

* bugfixes

* make rings appear in all subplots

* Minor fixes to gang-of-four functionality.

* Fixes to Nyquist plots.

* Updated the nyquistplot docstring

Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>

* add frequency in Hz to dampreport (#488)

* updates to nyquistplot (#493)

* updates to nyquistplot

* Update src/plotting.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update src/plotting.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* fix traces in rlocus (#491)

* fix traces in rlocus

* Update src/pid_design.jl

Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se>

Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se>

* let lsim handle arguments in lsimplot (#492)

* bugfix: avoid creating continuous system with Ts=0.0 (#496)

* Deactivate _preprocess_for_freqresp (#497)

until hessenberg is properly used

* allow balance when converting tf to ss (#495)

* allow balance when converting tf to ss

* use zeros(T) instead of fill(zero(T))

* Update src/types/StateSpace.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update src/types/conversion.jl

Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se>

Co-authored-by: olof3 <olof3@users.noreply.github.com>
Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se>

* Better handling of problematic cases for delay systems (#482)

* delay error should be correct now

* warn limit

* Add tustin c2d/d2c method (#487)

* add Tustin discretization

* no indexing after c2d

* implement f_prewarp in tustin and test vs. matlab

* fixe use wrong Ts

* f_prewarp -> w_prewarp

* w_prewarp in tests

* correct handling of x0 in lsimplot (#498)

* move eye def to framework.jl (#499)

* Fix UndefVarError: T not defined (#501)

* add axes for ss (#504)

* pi place and tests (#502)

* pi place and tests

* Fix test

* Add ending space in file

* Update numvec denvec

* Fixed error

* Update test/test_pid_design.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update test/test_pid_design.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update forms

* Fix test

* Fix test

* Update src/pid_design.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update src/pid_design.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Update src/pid_design.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Conver to tf in placepi (#507)

* Use nstates instead of nx in lsimplot (#508)

* Use nstates instead of nx in lsimplot

* Add predictor (#511)

* up innovation_form and add noise_model

* keep innovation_form, add predictor

* export predictor

* add hats

* updates to `obsv` (#517)

* updates to `obsv`

All computing an arbitrary number of rows in the observability matrix and accept `AbstractStateSpace`

* Update src/matrix_comps.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* `hz` keyword in `nyquistplot` similar to in `bodeplot` (#518)

* Fixes to place (#500)

* Add tests for place.

* Removed luenberger and exented place instead.

Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>

* allow AbstractStateSpace in several places (#520)

* allow AbstractStateSpace in several places

* Maintain type for zpk in c2d (#522)

* maintain zpk type in c2d

* Fix type in typeconversion for c2d tf

* Fix type in c2d tf/zpk

* Remove assertion on tf/zpk SISO for c2d

* Test for c2d(zpk(..)..) unbroken

* Keep MIMO assertion c2d tf

* Add comment and fix test

* Fix test

* h to Ts

* Fix test

* remove assert

* split into methods

* Remove asserts (#523)

* Replace asserts

* add error types

* fix conversion for custom types (#514)

* fix conversion for custom types

* special numeric_type for AbstractSS

* fix conversion from ss to tf without type

* more abstract statespaces (#521)

* omre abstract statespaces

* even more ASS

* remove simple feedback in favor of mor egeneral version

* propagate timeevol

* add block diagram to feedback docstring

* Updates to docstring

* fix docstring formatting

* delete redundancy in feedback docstring

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* add controller function (#512)

* add controller function

* rename controller and predictor

* Move plot globals to runtests (#531)

* Move plot globals to runtests

* Move plot globals to framework.jl

* return similarity transform from `balreal` (#530)

* display error when covar fails

* return similarity transform from balreal

* Update src/matrix_comps.jl

Co-authored-by: olof3 <olof3@users.noreply.github.com>

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* remove incorrect warning in pzmap (#535)

* support hz keyword in sigmaplot similar to bodeplot (#537)

* change formatting in dampreport (#536)

* change formatting in dampreport

* update dampreport to use ±

* even better formatting

* up formatting for complex systems

* add additive identity element for statespace and TF (#538)

* add additive identity element for statespace and TF

* rm zero from type. Test MIMO zero

* Fix struct_ctrb_obsv (#540)

* Fix struct_ctrb_obsv, closes #409

* Update src/simplification.jl

Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>

* add to docstring

Co-authored-by: olof3 <olof3@users.noreply.github.com>

* Yet another fix for  struct_ctrb_states. Closes #475 (#541)

* bugfix for negative real pole in damp (#539)

* Fix #546

* minor typographic changes

* optional epsilon in dcgain (#548)

* optional epsilon in dcgain

* Update analysis.jl

* bugfix: use correct type for saving dde solutions (#549)

Would be good to have a regression test for `BigFloat` data which was the reason I found this bug. That seems slightly involved to fix though.

I assume that this would also have failed for `ComplexF64`, so eventually a test for that too would be good.

* bugfix dcgain (#551)

* correct type of initial state in step (#553)

* remove version checks

* Fix spacing in type printing

* write `struct_ctrb_states` in terms of `iszero` instead of `== 0` (#557)

* write `struct_ctrb_states` in terms of `iszero` instead of `== 0`

The reason is that `iszero` always returns a bool, whereas `== 0` may return anything. The difference appears for symbolic variables where
```julia
julia> q0 == 0
q0(t) == 0

julia> iszero(q0)
false
```

* Update simplification.jl

* remove `issmooth` (#561)

* remove issmooth

* drop extra `]`

* Return a result structure from lsim (#529)

* Return a result structure from lsim

This is by design a non-breaking change to the lsim interface since the structure allows both getindex and destructuring to behave just like if lsim returned a tuple of arrays like before.  Indeed, the tests for lsim were not touched in this commit.

This commit also adds a plot recipe to the result structure. All plot recipes for lsimplot, stepplot, impulseplot have been replaced by the new recipe. This is a breaking change since the names of the previous plots no longer exist. A slight change is that the plots for a step response no longer show the text "step response", but I think that's an acceptable change, the user can supply any title they prefer themselves.

* remove automatic title

* introduce additional abstract result type

* do not destructure sys

* remove LQG (#564)

The functionality was very buggy and poorly tested. A much improved version with proper tests are available in https://github.com/JuliaControl/RobustAndOptimalControl.jl/blob/master/src/lqg.jl

* pole->poles tzero->tzeros (#562)

* update usage of plot for step simulation

* add doctest filters

* add release notes

* Update README.md

* Update README.md

Co-authored-by: olof3 <olof3@users.noreply.github.com>
Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se>
Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>

README.md

@@ -30,31 +30,18 @@ using Pkg; Pkg.add("ControlSystems")
 
 More details under [releases](https://github.com/JuliaControl/ControlSystems.jl/releases).
 
-### 2020-10
-- `lsimplot, stepplot, impulseplot` now have the same signatures as the corresponding non-plotting function.
-- New function `d2c` for conversion from discrete to continuous.
+### 2021-11
+- Time-domain simuations now return a result structure (non breaking)
+- *Breaking*: `lsimplot, stepplot, impulseplot` have been replaced by `plot(lsim())` etc.
+- *Breaking*: `pole, tzero` has been renamed to their plural form, `poles, tzeros`.
+- *Breaking*: `c2d` now no longer returns the `x0map` for statespace systems, see function `c2d_x0map` for the old behavior.
+- *Breaking*: The array layout of time and frequency responses has been transposed, i.e., in `y,t,x,u = lsim(sys, ...)`, the output arrays `y,x,u` are now of shape `size(y) == (sys.ny, T)`.
+- New functions `observer_controller, observer_predictor, placePI`.
+- *Breaking*: The type `LQG` has been removed, see [RobustAndOptimalControl.jl](https://github.com/JuliaControl/RobustAndOptimalControl.jl/blob/master/src/lqg.jl) for its replacement.
+- *Breaking*: `balreal` and `baltrunc` return an additional value, the applied similarity transform.
+- A large set of bug fixes
+- For a full list of changes, [see here](https://github.com/JuliaControl/ControlSystems.jl/pull/565/commits).
 
-### 2020-09-24
-Release v0.7 introduces a new `TimeEvolution` type to handle `Discrete/Continuous` systems. See the [release notes](https://github.com/JuliaControl/ControlSystems.jl/releases/tag/v0.7.0).
-
-### 2019-11-03
-- Poles and zeros are "not sorted" as in Julia versions < 1.2, even on newer versions of Julia. This should imply that complex conjugates are kept together.
-
-### 2019-05-28
-#### Delay systems
-- We now support systems with time delays. Example:
-```julia
-sys = tf(1, [1,1])*delay(1)
-stepplot(sys, 5) # Compilation time might be long for first simulation
-nyquistplot(sys)
-```
-#### New examples
-- [Delayed systems (frequency domain)](https://github.com/JuliaControl/ControlSystems.jl/blob/master/example/delayed_lti_system.jl)
-- [Delayed systems (time domain)](https://github.com/JuliaControl/ControlSystems.jl/blob/master/example/delayed_lti_timeresp.jl)
-- [Systems with uncertainty](https://github.com/baggepinnen/MonteCarloMeasurements.jl/blob/master/examples/controlsystems.jl)
-- [Robust PID optimization](https://github.com/baggepinnen/MonteCarloMeasurements.jl/blob/master/examples/robust_controller_opt.jl)
-### 2019-05-22
-New state-space type `HeteroStateSpace` that accepts matrices of heterogeneous types: [example using `StaticArrays`](https://juliacontrol.github.io/ControlSystems.jl/latest/man/creating_systems/#Creating-State-Space-Systems-1).
 
 ## Documentation