Hello Community,

I am trying to obtain the latest .pdf version of the v.0.10.2 control library tutorial. I have tried these websites to no avail:

1. https://github.com/python-control/python-control
2. https://pypi.org/project/control/
3. https://python-control.readthedocs.io/

I do not see where it states where this tutorial may be found (downloaded from) or published.

The tutorial in .pdf format that I have is - from 2019 (attempting to get the latest one, however):

In particular, I am interested in documentation that elaborates on the subject of discrete time systems. On this webpage, only two paragraphs were dedicated to this subject:

https://python-control.readthedocs.io/en/0.10.2/linear.html#discrete-time-systems

It states the following:

A discrete-time system with unspecified sampling time (dt = True) can be combined with a system having a specified sampling time; the result will be a discrete-time system with the sample time of the other system.

When I attempt to perform this very action, however, I get an exception:

plant = ct.tf([1], [1, 1, 0, 0])
sys6 = ct.c2d(plant, Ts=0.1, method='zoh')

Gz = ct.tf([70, -70*0.9048], [1, 0.25], dt=True)

tot = ct.tf(plant * Gz)

Exception generated when attempting to run the script above:
ValueError: Systems have incompatible timebases