python-control
diff --git a/‎control/bdalg.py‎
Lines changed: 7 additions & 0 deletions b/‎control/bdalg.py‎
Lines changed: 7 additions & 0 deletions
diff --git a/‎control/config.py‎
Lines changed: 8 additions & 0 deletions b/‎control/config.py‎
Lines changed: 8 additions & 0 deletions
diff --git a/‎control/iosys.py‎
Lines changed: 448 additions & 245 deletions b/‎control/iosys.py‎
Lines changed: 448 additions & 245 deletions
diff --git a/‎control/statesp.py‎
Lines changed: 11 additions & 6 deletions b/‎control/statesp.py‎
Lines changed: 11 additions & 6 deletions
@@ -326,6 +326,13 @@ def connect(sys, Q, inputv, outputv):
     >>> Q = [[1, 2], [2, -1]]  # negative feedback interconnection
     >>> sysc = connect(sys, Q, [2], [1, 2])
 
+    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.
+
     """
     inputv, outputv, Q = np.asarray(inputv), np.asarray(outputv), np.asarray(Q)
     # check indices
 
@@ -215,7 +215,15 @@ def use_legacy_defaults(version):
     if major == 0 and minor < 9:
         # switched to 'array' as default for state space objects
         set_defaults('statesp', use_numpy_matrix=True)
+
         # switched to 0 (=continuous) as default timestep
         set_defaults('control', default_dt=None)
 
+        # changed iosys naming conventions
+        set_defaults('iosys', state_name_delim='.',
+                     duplicate_system_name_prefix='copy of ',
+                     duplicate_system_name_suffix='',
+                     linearized_system_name_prefix='',
+                     linearized_system_name_suffix='_linearized')
+
     return (major, minor, patch)
@@ -1264,7 +1264,7 @@ def _convertToStateSpace(sys, **kw):
 
 
 # TODO: add discrete time option
-def _rss_generate(states, inputs, outputs, type):
+def _rss_generate(states, inputs, outputs, type, strictly_proper=False):
     """Generate a random state space.
 
     This does the actual random state space generation expected from rss and
@@ -1374,7 +1374,7 @@ def _rss_generate(states, inputs, outputs, type):
     # Apply masks.
     B = B * Bmask
     C = C * Cmask
-    D = D * Dmask
+    D = D * Dmask if not strictly_proper else zeros(D.shape)
 
     return StateSpace(A, B, C, D)
 
@@ -1649,7 +1649,7 @@ def tf2ss(*args):
         raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))
 
 
-def rss(states=1, outputs=1, inputs=1):
+def rss(states=1, outputs=1, inputs=1, strictly_proper=False):
     """
     Create a stable *continuous* random state space object.
 
@@ -1661,6 +1661,9 @@ def rss(states=1, outputs=1, inputs=1):
         Number of system inputs
     outputs : integer
         Number of system outputs
+    strictly_proper : bool, optional
+        If set to 'True', returns a proper system (no direct term).  Default
+        value is 'False'.
 
     Returns
     -------
@@ -1684,10 +1687,11 @@ def rss(states=1, outputs=1, inputs=1):
 
     """
 
-    return _rss_generate(states, inputs, outputs, 'c')
+    return _rss_generate(states, inputs, outputs, 'c',
+                         strictly_proper=strictly_proper)
 
 
-def drss(states=1, outputs=1, inputs=1):
+def drss(states=1, outputs=1, inputs=1, strictly_proper=False):
     """
     Create a stable *discrete* random state space object.
 
@@ -1722,7 +1726,8 @@ def drss(states=1, outputs=1, inputs=1):
 
     """
 
-    return _rss_generate(states, inputs, outputs, 'd')
+    return _rss_generate(states, inputs, outputs, 'd',
+                         strictly_proper=strictly_proper)
 
 
 def ssdata(sys):