updates per @sawyerbfuller review comments

murrayrm · murrayrm · commit b3693dc61851 · 2023-06-26T21:09:54.000-07:00
diff --git a/control/bdalg.py b/control/bdalg.py
@@ -332,9 +332,9 @@ def append(*sys):
 def connect(sys, Q, inputv, outputv):
     """Index-based interconnection of an LTI system.
 
-.. deprecated:: 0.10.0
-    `connect` will be removed in a future version of python-control in
-    favor of `interconnect`, which works with named signals.
+    .. deprecated:: 0.10.0
+        `connect` will be removed in a future version of python-control in
+        favor of `interconnect`, which works with named signals.
 
     The system `sys` is a system typically constructed with `append`, with
     multiple inputs and outputs.  The inputs and outputs are connected
@@ -380,10 +380,9 @@ def connect(sys, Q, inputv, outputv):
 
     Notes
     -----
-    The :func:`~control.interconnect` function in the
-    :ref:`input/output systems <iosys-module>` module allows the use
-    of named signals and provides an alternative method for
-    interconnecting multiple systems.
+    The :func:`~control.interconnect` function in the :ref:`input/output
+    systems <iosys-module>` module allows the use of named signals and
+    provides an alternative method for interconnecting multiple systems.
 
     """
     # TODO: maintain `connect` for use in MATLAB submodule (?)
diff --git a/control/sisotool.py b/control/sisotool.py
@@ -341,6 +341,7 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
 
     if derivative_in_feedback_path:
         deriv = -deriv
+        deriv.input_labels = 'e'
 
     # create gain blocks
     Kpgain = tf(Kp0, 1, inputs='prop_e', outputs='ufb')
diff --git a/control/statesp.py b/control/statesp.py
@@ -1597,8 +1597,8 @@ def ss(*args, **kwargs):
     if len(args) > 0 and (hasattr(args[0], '__call__') or args[0] is None) \
        and not isinstance(args[0], (InputOutputSystem, LTI)):
         # Function as first (or second) argument => assume nonlinear IO system
-        warn("use nlsys() to create nonlinear I/O System",
-             PendingDeprecationWarning)
+        warn("using ss to create nonlinear I/O systems is deprecated; "
+             "use nlsys", DeprecationWarning)
         return NonlinearIOSystem(*args, **kwargs)
 
     elif len(args) == 4 or len(args) == 5:
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -1246,7 +1246,7 @@ def step_response(sys, T=None, X0=0, input=None, output=None, T_num=None,
         many simulation steps.
 
     X0 : array_like or float, optional
-        Initial condition (default = 0).  This can be used for nonlinear
+        Initial condition (default = 0).  This can be used for a nonlinear
         system where the origin is not an equilibrium point.
 
     input : int, optional
