@bnavigator I've split get_passivity_index() into get_output_fb_index() and get_input_ff_index(). I've also removed all the weird conditionals in ispassive(), it just has one code path now. I kept all the nu's and rho's in _solve_passivity_LMI() because it's easier to match the syntax from the source paper that way IMO.

It looks like the passivity module is not (yet) loaded in __init__.py. You should probably do that, so people don't have to import that passivity module explicitly (which allows ct.ispassive(sys)). Also, we should update the Sphinx documentation to include ispassive in the list of functions that are implemented (in doc/control.rst).

Other than that, looks ready to go?

You actually need the r""" here or have to use double backslashes below.

Is there a name for what this is?

Is there a name for what this is?

"longstring stringliteral with raw stringprefix" or "raw triple-quoted strings"

PEP 257:

For consistency, always use """triple double quotes""" around docstrings. Use r"""raw triple double quotes""" if you use any backslashes in your docstrings. For Unicode docstrings, use u"""Unicode triple-quoted strings""".

Is there a name for what this is?

"longstring stringliteral with raw stringprefix" or "raw triple-quoted strings"

PEP 257:

For consistency, always use """triple double quotes""" around docstrings. Use r"""raw triple double quotes""" if you use any backslashes in your docstrings. For Unicode docstrings, use u"""Unicode triple-quoted strings""".

Noice

@Mark-Yeatman @bnavigator This looks like it is ready to merge? Anything else planned?

Thanks @Mark-Yeatman! Looking forward to future pull request with further enhancements of this module.