add link to MATLAB lft function documentation in lft functions

tomaantjes · Sep 6, 2026 · Sep 6, 2026 · Sep 9, 2026 · Sep 12, 2026 · Sep 12, 2026
commit b2a59e09582c060c0dca87d4764a11e43fb1129b
diff --git a/control/bdalg.py b/control/bdalg.py
@@ -323,7 +323,9 @@ def lft(sys1, sys2, nu=-1, ny=-1, **kwargs):
     first `ny` inputs of `sys2`.  If `sys2` has fewer inputs and
     outputs than `sys1`, this forms the lower LFT of `sys1` and
     `sys2`. If `sys1` has fewer inputs and outputs than `sys2`, 
-    this forms the upper LFT of `sys2` and `sys1`.
+    this forms the upper LFT of `sys2` and `sys1`.  This implementation
+    is compatible with the MATLAB ``lft`` function found here: 
+    https://www.mathworks.com/help/control/ref/inputoutputmodel.lft.html
 
     Parameters
     ----------

diff --git a/control/statesp.py b/control/statesp.py
@@ -1067,7 +1067,9 @@ def lft(self, other, nu=-1, ny=-1, **kwargs):
         first `ny` inputs of `other`.  If `other` has fewer inputs and
         outputs than `self`, this forms the lower LFT of `self` and 
         `other`.  If `self` has fewer inputs and outputs than `other`, 
-        this forms the upper LFT of `other` and `self`.
+        this forms the upper LFT of `other` and `self`.  This implementation
+        is compatible with the MATLAB ``lft`` function found here: 
+        https://www.mathworks.com/help/control/ref/inputoutputmodel.lft.html
 
         Parameters
         ----------