From ce1fd84dd05a3bca5ad0ce16a794a159d704bd30 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Mon, 7 Dec 2020 11:33:01 +0100
Subject: [PATCH 01/46] Switch to github actions

---
 .github/workflows/ci.yml | 72 ++++++++++++++++++++++++++++++++++++++++
 .travis.yml              | 39 ----------------------
 docs/make.jl             |  2 +-
 test/runtests.jl         |  7 ----
 test/test_plots.jl       |  2 +-
 5 files changed, 74 insertions(+), 48 deletions(-)
 create mode 100644 .github/workflows/ci.yml
 delete mode 100644 .travis.yml

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 000000000..8f3e703e1
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,72 @@
+name: CI
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+    tags: '*'
+jobs:
+  test:
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - '1.0' # Replace this with the minimum Julia version that your package supports. E.g. if your package requires Julia 1.5 or higher, change this to '1.5'.
+          - '1' # Leave this line unchanged. '1' will automatically expand to the latest stable 1.x release of Julia.
+          - 'nightly'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install apt deps
+        run: apt-get install libgtk-3-dev dvipng texlive
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v1
+        with:
+          file: lcov.info
+  docs:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - name: Install apt deps
+        run: apt-get install libgtk-3-dev dvipng texlive
+      - run: |
+          julia --project=docs -e '
+            using Pkg
+            Pkg.develop(PackageSpec(path=pwd()))
+            Pkg.instantiate()'
+      - run: |
+          julia --project=docs -e '
+            using Documenter: doctest
+            using ControlSystems
+            doctest(ControlSystems)' 
+      - run: julia --project=docs docs/make.jl
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 37b229355..000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,39 +0,0 @@
-language: julia
-julia:
-  - 1.0
-  - 1
-  - nightly
-matrix:
-  allow_failures:
-  - julia: nightly
-  fast_finish: true
-notifications:
-    email: false
-branches:
-  only: 
-    - master
-addons:
-  apt:
-    packages:
-      - libgtk-3-dev
-      - xvfb
-      - dvipng
-      - texlive
-cache:
-  directories:
-  # This should speed up builds
-  - $HOME/.julia/artifacts
-
-env:
-  - PLOTS_TEST="true" GKSwstype="100"
-
-script:
-  - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
-  # Needed for plotting on travis
-  - if [[ `uname` = "Linux" ]]; then TESTCMD="xvfb-run julia"; else TESTCMD="julia"; fi
-  - $TESTCMD -e 'using Pkg; Pkg.build(); Pkg.test(coverage=true)'
-
-after_success:
-    - julia -e 'import Pkg; Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'
-    - if [[ `uname` = "Linux" ]]; then TESTCMD="xvfb-run julia"; else TESTCMD="julia"; fi
-    - $TESTCMD --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate();import ControlSystems; cd(joinpath(dirname(pathof(ControlSystems)), "..")); include(joinpath("docs", "make.jl"))'
diff --git a/docs/make.jl b/docs/make.jl
index 24aa3b510..d87259ffe 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -1,6 +1,6 @@
 # Set plot globals
 ENV["PLOTS_TEST"] = "true"
-ENV["GKSwstype"] = "100"
+ENV["GKSwstype"] = "nul"
 
 using Documenter, ControlSystems, Plots, LinearAlgebra, DSP
 import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
diff --git a/test/runtests.jl b/test/runtests.jl
index e9c629c44..aeb10e574 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,6 +1,5 @@
 using ControlSystems
 using Test, LinearAlgebra, Random
-using Documenter            # For doctests
 import Base.isapprox        # In framework and test_synthesis
 import SparseArrays: sparse # In test_matrix_comps
 import DSP: conv            # In test_conversion and test_synthesis
@@ -39,10 +38,4 @@ my_tests = [
     _t0 = time()
     run_tests(my_tests)
     println("Ran all code tests in $(round(time()-_t0, digits=2)) seconds")
-
-
-    println("Test Doctests")
-    _t0 = time()
-    doctest(ControlSystems)
-    println("Ran Doctests in $(round(time()-_t0, digits=2)) seconds")
 end
diff --git a/test/test_plots.jl b/test/test_plots.jl
index d898536aa..a06301afb 100644
--- a/test/test_plots.jl
+++ b/test/test_plots.jl
@@ -1,6 +1,6 @@
 # Set plot globals
 ENV["PLOTS_TEST"] = "true"
-ENV["GKSwstype"] = "100"
+ENV["GKSwstype"] = "nul"
 
 using Plots
 gr()

From 44ffd89644207684b8db193a5a77a38b43968b61 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Mon, 7 Dec 2020 11:38:59 +0100
Subject: [PATCH 02/46] sudo for apt install

---
 .github/workflows/ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8f3e703e1..22d1d1b30 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -25,7 +25,7 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Install apt deps
-        run: apt-get install libgtk-3-dev dvipng texlive
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}
@@ -55,7 +55,7 @@ jobs:
         with:
           version: '1'
       - name: Install apt deps
-        run: apt-get install libgtk-3-dev dvipng texlive
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - run: |
           julia --project=docs -e '
             using Pkg

From 3b85c37b9d8b936ef90f95b5355e28e615b3d6fe Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 11:35:21 +0100
Subject: [PATCH 03/46] Separate nightly and add badge

---
 .github/workflows/ci-nightly.yml | 71 ++++++++++++++++++++++++++++++++
 .github/workflows/ci.yml         |  4 +-
 README.md                        |  2 +-
 3 files changed, 74 insertions(+), 3 deletions(-)
 create mode 100644 .github/workflows/ci-nightly.yml

diff --git a/.github/workflows/ci-nightly.yml b/.github/workflows/ci-nightly.yml
new file mode 100644
index 000000000..7d1e37f2a
--- /dev/null
+++ b/.github/workflows/ci-nightly.yml
@@ -0,0 +1,71 @@
+name: CI-nightly
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+    tags: 
+      - '*'
+jobs:
+  test:
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - 'nightly'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install apt deps
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v1
+        with:
+          file: lcov.info
+  docs:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - name: Install apt deps
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
+      - run: |
+          julia --project=docs -e '
+            using Pkg
+            Pkg.develop(PackageSpec(path=pwd()))
+            Pkg.instantiate()'
+      - run: |
+          julia --project=docs -e '
+            using Documenter: doctest
+            using ControlSystems
+            doctest(ControlSystems)' 
+      - run: julia --project=docs docs/make.jl
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 22d1d1b30..ea39fb10d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,7 +6,8 @@ on:
   push:
     branches:
       - master
-    tags: '*'
+    tags: 
+      - '*'
 jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
@@ -17,7 +18,6 @@ jobs:
         version:
           - '1.0' # Replace this with the minimum Julia version that your package supports. E.g. if your package requires Julia 1.5 or higher, change this to '1.5'.
           - '1' # Leave this line unchanged. '1' will automatically expand to the latest stable 1.x release of Julia.
-          - 'nightly'
         os:
           - ubuntu-latest
         arch:
diff --git a/README.md b/README.md
index e0d4a54b3..4fac67824 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ControlSystems.jl
 
-[![Build Status](https://travis-ci.com/JuliaControl/ControlSystems.jl.svg?branch=master)](https://travis-ci.com/JuliaControl/ControlSystems.jl)
+[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From f01144d88f602c49e19114411368f838b60fadaf Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 11:39:46 +0100
Subject: [PATCH 04/46] Remove doctest from nightly file

---
 .github/workflows/ci-nightly.yml | 27 ++-------------------------
 1 file changed, 2 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/ci-nightly.yml b/.github/workflows/ci-nightly.yml
index 7d1e37f2a..21e47f199 100644
--- a/.github/workflows/ci-nightly.yml
+++ b/.github/workflows/ci-nightly.yml
@@ -12,6 +12,7 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
     runs-on: ${{ matrix.os }}
+    continue-on-error: true
     strategy:
       fail-fast: false
       matrix:
@@ -44,28 +45,4 @@ jobs:
       - uses: julia-actions/julia-processcoverage@v1
       - uses: codecov/codecov-action@v1
         with:
-          file: lcov.info
-  docs:
-    name: Documentation
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: '1'
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
-      - run: |
-          julia --project=docs -e '
-            using Pkg
-            Pkg.develop(PackageSpec(path=pwd()))
-            Pkg.instantiate()'
-      - run: |
-          julia --project=docs -e '
-            using Documenter: doctest
-            using ControlSystems
-            doctest(ControlSystems)' 
-      - run: julia --project=docs docs/make.jl
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
+          file: lcov.info
\ No newline at end of file

From 70e6e1fe2367c8d965a488b9dbce264e3ec4515c Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 12:49:45 +0100
Subject: [PATCH 05/46] Move ci to same file and remove apt from test

---
 .github/workflows/ci.yml | 35 ++++++++++++++++++++++++++++++++---
 1 file changed, 32 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ea39fb10d..cbc836ba7 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,7 +9,7 @@ on:
     tags: 
       - '*'
 jobs:
-  test:
+  tests-required: # Tests that needs to succeed
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
     runs-on: ${{ matrix.os }}
     strategy:
@@ -24,8 +24,6 @@ jobs:
           - x64
     steps:
       - uses: actions/checkout@v2
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}
@@ -46,6 +44,37 @@ jobs:
       - uses: codecov/codecov-action@v1
         with:
           file: lcov.info
+  test-allowed-fail: # Tests that are allowed to fail
+    name: Julia (allowed fail) ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    runs-on: ${{ matrix.os }}
+    continue-on-error: true
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - 'nightly'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
   docs:
     name: Documentation
     runs-on: ubuntu-latest

From af814dd66d1dcea1daae165587da5338999dced1 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 12:50:30 +0100
Subject: [PATCH 06/46] Remove nightly file

---
 .github/workflows/ci-nightly.yml | 48 --------------------------------
 1 file changed, 48 deletions(-)
 delete mode 100644 .github/workflows/ci-nightly.yml

diff --git a/.github/workflows/ci-nightly.yml b/.github/workflows/ci-nightly.yml
deleted file mode 100644
index 21e47f199..000000000
--- a/.github/workflows/ci-nightly.yml
+++ /dev/null
@@ -1,48 +0,0 @@
-name: CI-nightly
-on:
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-    tags: 
-      - '*'
-jobs:
-  test:
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
-    runs-on: ${{ matrix.os }}
-    continue-on-error: true
-    strategy:
-      fail-fast: false
-      matrix:
-        version:
-          - 'nightly'
-        os:
-          - ubuntu-latest
-        arch:
-          - x64
-    steps:
-      - uses: actions/checkout@v2
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
-      - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
-        with:
-          file: lcov.info
\ No newline at end of file

From 4c5fd9b7f776aa115155bde08e3347799904b962 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 12:53:08 +0100
Subject: [PATCH 07/46] Update job names

---
 .github/workflows/ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cbc836ba7..8e273f20c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -10,7 +10,7 @@ on:
       - '*'
 jobs:
   tests-required: # Tests that needs to succeed
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - 
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -45,7 +45,7 @@ jobs:
         with:
           file: lcov.info
   test-allowed-fail: # Tests that are allowed to fail
-    name: Julia (allowed fail) ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - [allowed to fail] - 
     runs-on: ${{ matrix.os }}
     continue-on-error: true
     strategy:

From ccd85d14feaef3a661469d111b33a5aaf2c5752d Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 17:04:05 +0100
Subject: [PATCH 08/46] Split test and docs in two files

---
 .github/workflows/Docs.yml             | 37 ++++++++++++++++++++++++++
 .github/workflows/{ci.yml => Test.yml} | 32 ++++------------------
 2 files changed, 42 insertions(+), 27 deletions(-)
 create mode 100644 .github/workflows/Docs.yml
 rename .github/workflows/{ci.yml => Test.yml} (73%)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
new file mode 100644
index 000000000..f6521667f
--- /dev/null
+++ b/.github/workflows/Docs.yml
@@ -0,0 +1,37 @@
+name: Docs 
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+    tags: 
+      - '*'
+
+jobs:
+  docs:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - name: Install apt deps
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
+      - run: |
+          julia --project=docs -e '
+            using Pkg
+            Pkg.develop(PackageSpec(path=pwd()))
+            Pkg.instantiate()'
+      - run: |
+          julia --project=docs -e '
+            using Documenter: doctest
+            using ControlSystems
+            doctest(ControlSystems)' 
+      - run: julia --project=docs docs/make.jl
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
diff --git a/.github/workflows/ci.yml b/.github/workflows/Test.yml
similarity index 73%
rename from .github/workflows/ci.yml
rename to .github/workflows/Test.yml
index 8e273f20c..c2ff07ca8 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/Test.yml
@@ -1,4 +1,5 @@
-name: CI
+name: Test 
+
 on:
   pull_request:
     branches:
@@ -8,8 +9,9 @@ on:
       - master
     tags: 
       - '*'
+
 jobs:
-  tests-required: # Tests that needs to succeed
+  tests-required: 
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - 
     runs-on: ${{ matrix.os }}
     strategy:
@@ -44,7 +46,7 @@ jobs:
       - uses: codecov/codecov-action@v1
         with:
           file: lcov.info
-  test-allowed-fail: # Tests that are allowed to fail
+  test-optional: # Tests that are allowed to fail
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - [allowed to fail] - 
     runs-on: ${{ matrix.os }}
     continue-on-error: true
@@ -75,27 +77,3 @@ jobs:
             ${{ runner.os }}-
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
-  docs:
-    name: Documentation
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: '1'
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
-      - run: |
-          julia --project=docs -e '
-            using Pkg
-            Pkg.develop(PackageSpec(path=pwd()))
-            Pkg.instantiate()'
-      - run: |
-          julia --project=docs -e '
-            using Documenter: doctest
-            using ControlSystems
-            doctest(ControlSystems)' 
-      - run: julia --project=docs docs/make.jl
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}

From 7314ee70d7b01b217b0b7c37abe6ca503d968a85 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 8 Dec 2020 21:28:50 +0100
Subject: [PATCH 09/46] Add documenter key to tagbot

---
 .github/workflows/TagBot.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/TagBot.yml b/.github/workflows/TagBot.yml
index d77d3a0c3..f8fd014ef 100644
--- a/.github/workflows/TagBot.yml
+++ b/.github/workflows/TagBot.yml
@@ -9,3 +9,4 @@ jobs:
       - uses: JuliaRegistries/TagBot@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
+          ssh: ${{ secrets.DOCUMENTER_KEY }}

From 77de81eff97a0ff96817e2d00416e9e41bbb632f Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 11:16:54 +0100
Subject: [PATCH 10/46] Combine versions, run coverage on v1

---
 .github/workflows/Test.yml | 50 +++++++++-----------------------------
 1 file changed, 12 insertions(+), 38 deletions(-)

diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index c2ff07ca8..a5e7b5048 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -14,16 +14,19 @@ jobs:
   tests-required: 
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - 
     runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ matrix.version == 'nightly' }}
     strategy:
       fail-fast: false
       matrix:
-        version:
-          - '1.0' # Replace this with the minimum Julia version that your package supports. E.g. if your package requires Julia 1.5 or higher, change this to '1.5'.
-          - '1' # Leave this line unchanged. '1' will automatically expand to the latest stable 1.x release of Julia.
-        os:
-          - ubuntu-latest
-        arch:
-          - x64
+        version: [1.0, 1, nightly]
+        os: [ubuntu-latest]
+        arch: [x64]
+        experimental: [false]
+        #include: # Allow nightly to fail
+          #- version: nightly
+            #os: ubuntu-latest
+            #arch: x64
+            #experimental: true
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
@@ -43,37 +46,8 @@ jobs:
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
       - uses: julia-actions/julia-processcoverage@v1
+        if: ${{ matrix.version == '1' }}
       - uses: codecov/codecov-action@v1
+        if: ${{ matrix.version == '1' }}
         with:
           file: lcov.info
-  test-optional: # Tests that are allowed to fail
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - [allowed to fail] - 
-    runs-on: ${{ matrix.os }}
-    continue-on-error: true
-    strategy:
-      fail-fast: false
-      matrix:
-        version:
-          - 'nightly'
-        os:
-          - ubuntu-latest
-        arch:
-          - x64
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1

From 30fe8f680f47f7819c983081544e70034189fe91 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 11:23:51 +0100
Subject: [PATCH 11/46] Quote v1.0 so it is not same as v1

---
 .github/workflows/Test.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index a5e7b5048..7a0b8ce39 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        version: [1.0, 1, nightly]
+        version: ['1.0', '1', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
         experimental: [false]

From d4d25bb8b45f8f013d0e7e3b503d753a1e65ded1 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 14:20:52 +0100
Subject: [PATCH 12/46] Testing doc commands

---
 .github/workflows/Docs.yml | 4 +---
 .github/workflows/Test.yml | 2 +-
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
index f6521667f..7aae36afa 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/Docs.yml
@@ -25,9 +25,7 @@ jobs:
           julia --project=docs -e '
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
-            Pkg.instantiate()'
-      - run: |
-          julia --project=docs -e '
+            Pkg.instantiate()
             using Documenter: doctest
             using ControlSystems
             doctest(ControlSystems)' 
diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index 7a0b8ce39..da1d1d615 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -12,7 +12,7 @@ on:
 
 jobs:
   tests-required: 
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - 
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }}
     strategy:

From ee7647523b758668c5cfd1bea6262c319b8ae8e1 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 14:51:12 +0100
Subject: [PATCH 13/46] move doctest to test

---
 .github/workflows/Docs.yml | 5 +----
 test/runtests.jl           | 7 +++++++
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
index 7aae36afa..408ba9494 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/Docs.yml
@@ -25,10 +25,7 @@ jobs:
           julia --project=docs -e '
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
-            Pkg.instantiate()
-            using Documenter: doctest
-            using ControlSystems
-            doctest(ControlSystems)' 
+            Pkg.instantiate()'
       - run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/test/runtests.jl b/test/runtests.jl
index aeb10e574..3d5e47ab9 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,5 +1,6 @@
 using ControlSystems
 using Test, LinearAlgebra, Random
+using Documenter
 import Base.isapprox        # In framework and test_synthesis
 import SparseArrays: sparse # In test_matrix_comps
 import DSP: conv            # In test_conversion and test_synthesis
@@ -38,4 +39,10 @@ my_tests = [
     _t0 = time()
     run_tests(my_tests)
     println("Ran all code tests in $(round(time()-_t0, digits=2)) seconds")
+    
+
+    println("Test Doctests")
+    _t0 = time()
+    doctest(ControlSystems)
+    println("Ran Doctests in $(round(time()-_t0, digits=2)) seconds")
 end

From 880f699ffe122e3d98e8d4f9be36399af070da31 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 15:32:30 +0100
Subject: [PATCH 14/46] add apt needed for doctest to test

---
 .github/workflows/Test.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index da1d1d615..5b5e5b92b 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -12,7 +12,7 @@ on:
 
 jobs:
   tests-required: 
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    name: 'Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} [required: ${{ matrix.version == nightly }}]'
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }}
     strategy:
@@ -33,6 +33,8 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      - name: Install apt deps
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts

From bffce7709013b3770aecdb0b606431c140bc6e0d Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 15:36:04 +0100
Subject: [PATCH 15/46] change test jobname, try to fix weird bug

---
 .github/workflows/Test.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index 5b5e5b92b..15411d7f3 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -12,7 +12,7 @@ on:
 
 jobs:
   tests-required: 
-    name: 'Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} [required: ${{ matrix.version == nightly }}]'
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }}
     strategy:
@@ -21,7 +21,7 @@ jobs:
         version: ['1.0', '1', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
-        experimental: [false]
+        #experimental: [false]
         #include: # Allow nightly to fail
           #- version: nightly
             #os: ubuntu-latest

From ad622e2c3591f4b24a87b14fdd6dae16b3bb0b48 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 16:39:09 +0100
Subject: [PATCH 16/46] move doctest to Docs

---
 .github/workflows/Docs.yml |  9 +++++++++
 .github/workflows/Test.yml | 18 ++++++++----------
 docs/make.jl               |  2 +-
 test/runtests.jl           |  7 -------
 4 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
index 408ba9494..188a5b646 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/Docs.yml
@@ -26,6 +26,15 @@ jobs:
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
+      - run: |
+          julia --project=docs -e '
+            ENV["PLOTS_TEST"] = "true"
+            ENV["GKSwstype"] = "nul"
+            using Documenter: doctest
+            using ControlSystems, Plots
+            gr()
+            default(show=false, size=(800,450))
+            doctest(ControlSystems)'
       - run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index 15411d7f3..3728cd5cc 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -14,27 +14,25 @@ jobs:
   tests-required: 
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.version == 'nightly' }}
+    continue-on-error: ${{ matrix.experimental }}
     strategy:
       fail-fast: false
       matrix:
-        version: ['1.0', '1', 'nightly']
+        version: ['1.0', '1']
         os: [ubuntu-latest]
         arch: [x64]
-        #experimental: [false]
-        #include: # Allow nightly to fail
-          #- version: nightly
-            #os: ubuntu-latest
-            #arch: x64
-            #experimental: true
+        experimental: [false]
+        include: # Allow nightly to fail
+          - version: nightly
+            os: ubuntu-latest
+            arch: x64
+            experimental: true
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts
diff --git a/docs/make.jl b/docs/make.jl
index d87259ffe..689bbb8f7 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -3,7 +3,7 @@ ENV["PLOTS_TEST"] = "true"
 ENV["GKSwstype"] = "nul"
 
 using Documenter, ControlSystems, Plots, LinearAlgebra, DSP
-import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
+#import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
 gr()
 default(show=false, size=(800,450))
 
diff --git a/test/runtests.jl b/test/runtests.jl
index 3d5e47ab9..aeb10e574 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,6 +1,5 @@
 using ControlSystems
 using Test, LinearAlgebra, Random
-using Documenter
 import Base.isapprox        # In framework and test_synthesis
 import SparseArrays: sparse # In test_matrix_comps
 import DSP: conv            # In test_conversion and test_synthesis
@@ -39,10 +38,4 @@ my_tests = [
     _t0 = time()
     run_tests(my_tests)
     println("Ran all code tests in $(round(time()-_t0, digits=2)) seconds")
-    
-
-    println("Test Doctests")
-    _t0 = time()
-    doctest(ControlSystems)
-    println("Ran Doctests in $(round(time()-_t0, digits=2)) seconds")
 end

From b9ac0cf50d8829f6f410e10bff4350386ca3c16c Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 17:20:25 +0100
Subject: [PATCH 17/46] Fix imports for docs workflow

---
 .github/workflows/Docs.yml | 12 ++++++++----
 .github/workflows/Test.yml | 10 ++--------
 2 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
index 188a5b646..967dff625 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/Docs.yml
@@ -21,21 +21,25 @@ jobs:
           version: '1'
       - name: Install apt deps
         run: sudo apt-get install libgtk-3-dev dvipng texlive
-      - run: |
+      - name: Setup docs environment
+        run: |
           julia --project=docs -e '
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
-      - run: |
+      - name: Run doctest
+        run: |
           julia --project=docs -e '
             ENV["PLOTS_TEST"] = "true"
             ENV["GKSwstype"] = "nul"
             using Documenter: doctest
-            using ControlSystems, Plots
+            using ControlSystems
+            using Plots, LinearAlgebra, DSP
             gr()
             default(show=false, size=(800,450))
             doctest(ControlSystems)'
-      - run: julia --project=docs docs/make.jl
+      - name: Generate documentation
+        run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
diff --git a/.github/workflows/Test.yml b/.github/workflows/Test.yml
index 3728cd5cc..e6694046a 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/Test.yml
@@ -14,19 +14,13 @@ jobs:
   tests-required: 
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.experimental }}
+    continue-on-error: ${{ matrix.version == 'nightly' }} # Allow nightly to fail and workflow still count as completed
     strategy:
       fail-fast: false
       matrix:
-        version: ['1.0', '1']
+        version: ['1.0', '1', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
-        experimental: [false]
-        include: # Allow nightly to fail
-          - version: nightly
-            os: ubuntu-latest
-            arch: x64
-            experimental: true
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1

From bd2f0d52715fada02aae5a2d7b7d09abbb07921f Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 9 Dec 2020 17:49:16 +0100
Subject: [PATCH 18/46] remove explicit doctest call, makedocs includes it

---
 .github/workflows/Docs.yml | 13 +------------
 1 file changed, 1 insertion(+), 12 deletions(-)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/Docs.yml
index 967dff625..75f1b2914 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/Docs.yml
@@ -27,18 +27,7 @@ jobs:
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
-      - name: Run doctest
-        run: |
-          julia --project=docs -e '
-            ENV["PLOTS_TEST"] = "true"
-            ENV["GKSwstype"] = "nul"
-            using Documenter: doctest
-            using ControlSystems
-            using Plots, LinearAlgebra, DSP
-            gr()
-            default(show=false, size=(800,450))
-            doctest(ControlSystems)'
-      - name: Generate documentation
+      - name: Generate and test documentation
         run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 4bd345979137a3c9e8529104ff3fe919c1c347a9 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Fri, 11 Dec 2020 12:52:07 +0100
Subject: [PATCH 19/46] Fix badges for test

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4fac67824..c8079b449 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ControlSystems.jl
 
-[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions)
+[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ATest)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From 89b004ebbe0aedfa58ea8cc980ed0ef04b1877a4 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 12 Dec 2020 16:22:56 +0100
Subject: [PATCH 20/46] rename workflows

---
 .github/workflows/{Docs.yml => docs.yml} | 2 +-
 .github/workflows/{Test.yml => test.yml} | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)
 rename .github/workflows/{Docs.yml => docs.yml} (97%)
 rename .github/workflows/{Test.yml => test.yml} (99%)

diff --git a/.github/workflows/Docs.yml b/.github/workflows/docs.yml
similarity index 97%
rename from .github/workflows/Docs.yml
rename to .github/workflows/docs.yml
index 75f1b2914..aa8fe9cc8 100644
--- a/.github/workflows/Docs.yml
+++ b/.github/workflows/docs.yml
@@ -1,4 +1,4 @@
-name: Docs 
+name: Documentation
 
 on:
   pull_request:
diff --git a/.github/workflows/Test.yml b/.github/workflows/test.yml
similarity index 99%
rename from .github/workflows/Test.yml
rename to .github/workflows/test.yml
index e6694046a..ea93d1507 100644
--- a/.github/workflows/Test.yml
+++ b/.github/workflows/test.yml
@@ -1,4 +1,4 @@
-name: Test 
+name: CI 
 
 on:
   pull_request:

From f7e3d0583ef4f0cc1c248db5d769ad2e14bb6fca Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 12 Dec 2020 16:24:00 +0100
Subject: [PATCH 21/46] doctest in runtest

---
 test/runtests.jl | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/test/runtests.jl b/test/runtests.jl
index aeb10e574..3d5e47ab9 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,5 +1,6 @@
 using ControlSystems
 using Test, LinearAlgebra, Random
+using Documenter
 import Base.isapprox        # In framework and test_synthesis
 import SparseArrays: sparse # In test_matrix_comps
 import DSP: conv            # In test_conversion and test_synthesis
@@ -38,4 +39,10 @@ my_tests = [
     _t0 = time()
     run_tests(my_tests)
     println("Ran all code tests in $(round(time()-_t0, digits=2)) seconds")
+    
+
+    println("Test Doctests")
+    _t0 = time()
+    doctest(ControlSystems)
+    println("Ran Doctests in $(round(time()-_t0, digits=2)) seconds")
 end

From f27ae78a199653e10dee0f903cc76d605413aa96 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 12 Dec 2020 19:43:41 +0100
Subject: [PATCH 22/46] add apt install to ci test

---
 .github/workflows/test.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index ea93d1507..106e5efba 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -27,6 +27,8 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      - name: Install apt deps
+        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts

From 2cf7067b16cf167a0dc13f6f332d9839e1453917 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 16:41:15 +0100
Subject: [PATCH 23/46] add timeout of 30 minutes

---
 .github/workflows/docs.yml | 1 +
 .github/workflows/test.yml | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index aa8fe9cc8..c65f597ce 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -14,6 +14,7 @@ jobs:
   docs:
     name: Documentation
     runs-on: ubuntu-latest
+    timeout-minutes: 30
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 106e5efba..ab6d2eb68 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -11,10 +11,11 @@ on:
       - '*'
 
 jobs:
-  tests-required: 
+  runtests: 
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }} # Allow nightly to fail and workflow still count as completed
+    timeout-minutes: 30
     strategy:
       fail-fast: false
       matrix:

From 1332438d8f82501ca857b9214ae6fab071e9395f Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 20:43:32 +0100
Subject: [PATCH 24/46] Set StaticArrays compat to 1.0 and update doctest

---
 Project.toml                     | 3 ++-
 docs/Project.toml                | 3 +++
 docs/src/man/creating_systems.md | 2 +-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/Project.toml b/Project.toml
index 73593331f..73e22be5b 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,13 +29,14 @@ MacroTools = "0.5"
 OrdinaryDiffEq = "5.2"
 Plots = "0.24, 0.25, 0.26, 0.27, 0.28, 0.29, 1.0"
 Polynomials = "1.1.10"
+StaticArrays = "1.0"
 julia = "1.0"
 
 [extras]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
 test = ["Test", "Documenter", "GR", "StaticArrays"]
diff --git a/docs/Project.toml b/docs/Project.toml
index 2d5b69c7b..633c1f416 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -6,3 +6,6 @@ GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+
+[compat]
+StaticArrays = "1.0"
\ No newline at end of file
diff --git a/docs/src/man/creating_systems.md b/docs/src/man/creating_systems.md
index d475944aa..74e5bac6c 100644
--- a/docs/src/man/creating_systems.md
+++ b/docs/src/man/creating_systems.md
@@ -121,7 +121,7 @@ D =
 Continuous-time state-space model
 
 julia> HeteroStateSpace(sys, to_sized)
-HeteroStateSpace{Continuous,SizedArray{Tuple{2,2},Int64,2,2},SizedArray{Tuple{2,1},Int64,2,2},SizedArray{Tuple{1,2},Int64,2,2},SizedArray{Tuple{1,1},Int64,2,2}}
+HeteroStateSpace{Continuous,SizedArray{Tuple{2,2},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{2,1},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{1,2},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{1,1},Int64,2,2,Array{Int64,2}}}
 A =
  -5   0
   0  -5

From c1c8e6034cdd2d2f3ce3323664a2d260be0d84ff Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 20:52:49 +0100
Subject: [PATCH 25/46] Bind StaticArrays dep to 0.12 for julia 1.0

---
 Project.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Project.toml b/Project.toml
index 73e22be5b..0edddecec 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,7 +29,7 @@ MacroTools = "0.5"
 OrdinaryDiffEq = "5.2"
 Plots = "0.24, 0.25, 0.26, 0.27, 0.28, 0.29, 1.0"
 Polynomials = "1.1.10"
-StaticArrays = "1.0"
+StaticArrays = "0.12"
 julia = "1.0"
 
 [extras]

From 8a0403d4729be4aa73dae46e06e5a4437acbdd08 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 20:57:07 +0100
Subject: [PATCH 26/46] Update test badge to point to correct workflow

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index c8079b449..17ed8959a 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ControlSystems.jl
 
-[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ATest)
+[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ATest)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From 1861156dcbc1ec4ae196e9bdf5100f51c468625b Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 22:40:17 +0100
Subject: [PATCH 27/46] Remove StaticArrays restriction, test on julia 1.3

---
 .github/workflows/test.yml | 2 +-
 Project.toml               | 1 -
 docs/Project.toml          | 3 ---
 3 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index ab6d2eb68..4cb55396f 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        version: ['1.0', '1', 'nightly']
+        version: ['1.3', '1', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
     steps:
diff --git a/Project.toml b/Project.toml
index 0edddecec..c04410ff3 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,7 +29,6 @@ MacroTools = "0.5"
 OrdinaryDiffEq = "5.2"
 Plots = "0.24, 0.25, 0.26, 0.27, 0.28, 0.29, 1.0"
 Polynomials = "1.1.10"
-StaticArrays = "0.12"
 julia = "1.0"
 
 [extras]
diff --git a/docs/Project.toml b/docs/Project.toml
index 633c1f416..2d5b69c7b 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -6,6 +6,3 @@ GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
-
-[compat]
-StaticArrays = "1.0"
\ No newline at end of file

From 5680c1ba45f0cecc52b72608e302d5e59932a390 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sun, 13 Dec 2020 23:57:56 +0100
Subject: [PATCH 28/46] Move back to test 1.0 with StaticArrays 0.12

---
 .github/workflows/test.yml       | 2 +-
 Project.toml                     | 1 +
 docs/Project.toml                | 3 +++
 docs/src/man/creating_systems.md | 2 +-
 4 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 4cb55396f..ab6d2eb68 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        version: ['1.3', '1', 'nightly']
+        version: ['1.0', '1', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
     steps:
diff --git a/Project.toml b/Project.toml
index c04410ff3..0edddecec 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,6 +29,7 @@ MacroTools = "0.5"
 OrdinaryDiffEq = "5.2"
 Plots = "0.24, 0.25, 0.26, 0.27, 0.28, 0.29, 1.0"
 Polynomials = "1.1.10"
+StaticArrays = "0.12"
 julia = "1.0"
 
 [extras]
diff --git a/docs/Project.toml b/docs/Project.toml
index 2d5b69c7b..c326e8149 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -6,3 +6,6 @@ GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+
+[compat]
+StaticArrays = "0.12"
diff --git a/docs/src/man/creating_systems.md b/docs/src/man/creating_systems.md
index 74e5bac6c..d475944aa 100644
--- a/docs/src/man/creating_systems.md
+++ b/docs/src/man/creating_systems.md
@@ -121,7 +121,7 @@ D =
 Continuous-time state-space model
 
 julia> HeteroStateSpace(sys, to_sized)
-HeteroStateSpace{Continuous,SizedArray{Tuple{2,2},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{2,1},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{1,2},Int64,2,2,Array{Int64,2}},SizedArray{Tuple{1,1},Int64,2,2,Array{Int64,2}}}
+HeteroStateSpace{Continuous,SizedArray{Tuple{2,2},Int64,2,2},SizedArray{Tuple{2,1},Int64,2,2},SizedArray{Tuple{1,2},Int64,2,2},SizedArray{Tuple{1,1},Int64,2,2}}
 A =
  -5   0
   0  -5

From 7920d07d580b5c846e0f5357249c245498bbd272 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Mon, 14 Dec 2020 00:05:12 +0100
Subject: [PATCH 29/46] Remove unused DOCUMENTER_KEY

---
 .github/workflows/TagBot.yml | 1 -
 .github/workflows/docs.yml   | 1 -
 2 files changed, 2 deletions(-)

diff --git a/.github/workflows/TagBot.yml b/.github/workflows/TagBot.yml
index f8fd014ef..d77d3a0c3 100644
--- a/.github/workflows/TagBot.yml
+++ b/.github/workflows/TagBot.yml
@@ -9,4 +9,3 @@ jobs:
       - uses: JuliaRegistries/TagBot@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          ssh: ${{ secrets.DOCUMENTER_KEY }}
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index c65f597ce..0d65fb41d 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -32,4 +32,3 @@ jobs:
         run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}

From 1f55060e36c0c2539c628fbde60676aa66194dba Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Mon, 14 Dec 2020 00:25:07 +0100
Subject: [PATCH 30/46] Fix badge link

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 17ed8959a..8f6aaa33f 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ControlSystems.jl
 
-[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ATest)
+[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3Atest)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From 7d4bf930f7b1bba10f6b4547a34da356148fd121 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Mon, 14 Dec 2020 00:26:58 +0100
Subject: [PATCH 31/46] Fix badge link (again...)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8f6aaa33f..3e6cf5af9 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ControlSystems.jl
 
-[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/test/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3Atest)
+[![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ACI)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From f2bb4bd7685bc459a9429ea33b6779f8c9b5e4c0 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 14:11:16 +0100
Subject: [PATCH 32/46] Remove StaticArrays compat, move doctest

---
 .github/workflows/docs.yml | 8 +++++++-
 Project.toml               | 1 -
 docs/Project.toml          | 3 ---
 test/runtests.jl           | 7 -------
 4 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 0d65fb41d..671cdaade 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -28,7 +28,13 @@ jobs:
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
-      - name: Generate and test documentation
+      - name: Test docs
+        run: |
+          julia --project=docs -e '
+            using Documenter: doctest
+            using ControlSystems
+            doctest(ControlSystems)''
+      - name: Generate documentation
         run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/Project.toml b/Project.toml
index 0edddecec..c04410ff3 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,7 +29,6 @@ MacroTools = "0.5"
 OrdinaryDiffEq = "5.2"
 Plots = "0.24, 0.25, 0.26, 0.27, 0.28, 0.29, 1.0"
 Polynomials = "1.1.10"
-StaticArrays = "0.12"
 julia = "1.0"
 
 [extras]
diff --git a/docs/Project.toml b/docs/Project.toml
index c326e8149..2d5b69c7b 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -6,6 +6,3 @@ GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
-
-[compat]
-StaticArrays = "0.12"
diff --git a/test/runtests.jl b/test/runtests.jl
index 3d5e47ab9..aeb10e574 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,6 +1,5 @@
 using ControlSystems
 using Test, LinearAlgebra, Random
-using Documenter
 import Base.isapprox        # In framework and test_synthesis
 import SparseArrays: sparse # In test_matrix_comps
 import DSP: conv            # In test_conversion and test_synthesis
@@ -39,10 +38,4 @@ my_tests = [
     _t0 = time()
     run_tests(my_tests)
     println("Ran all code tests in $(round(time()-_t0, digits=2)) seconds")
-    
-
-    println("Test Doctests")
-    _t0 = time()
-    doctest(ControlSystems)
-    println("Ran Doctests in $(round(time()-_t0, digits=2)) seconds")
 end

From c117d7aeba665f758d0a993cf6496dc3ee83ebe1 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 14:17:28 +0100
Subject: [PATCH 33/46] Keep compat in docs

---
 docs/Project.toml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docs/Project.toml b/docs/Project.toml
index 2d5b69c7b..c326e8149 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -6,3 +6,6 @@ GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+
+[compat]
+StaticArrays = "0.12"

From 1b5ef9823d90b9396384b6795fc18839f1edd024 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 14:18:44 +0100
Subject: [PATCH 34/46] Remove extra citation

---
 .github/workflows/docs.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 671cdaade..c0194f803 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -33,7 +33,7 @@ jobs:
           julia --project=docs -e '
             using Documenter: doctest
             using ControlSystems
-            doctest(ControlSystems)''
+            doctest(ControlSystems)'
       - name: Generate documentation
         run: julia --project=docs docs/make.jl
         env:

From cc6712418bb8cc936370c72f646f8f55bab0ebec Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 14:42:25 +0100
Subject: [PATCH 35/46] remove docs apt deps from ci

---
 .github/workflows/test.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index ab6d2eb68..920e00ea0 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -28,8 +28,6 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - name: Install apt deps
-        run: sudo apt-get install libgtk-3-dev dvipng texlive
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts

From d9b21b9330ab71ff6a7763d49e62de8d4e880158 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 15:38:12 +0100
Subject: [PATCH 36/46] add envvars for plots to doctest

---
 .github/workflows/docs.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index c0194f803..59d7bd9fe 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -31,6 +31,8 @@ jobs:
       - name: Test docs
         run: |
           julia --project=docs -e '
+            ENV["PLOTS_TEST"] = "true"
+            ENV["GKSwstype"] = "nul"
             using Documenter: doctest
             using ControlSystems
             doctest(ControlSystems)'

From 4772cc9575f9fe2e3924992559f90d6780be8f95 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 16:25:56 +0100
Subject: [PATCH 37/46] Remove StaticArrays from test deps

---
 Project.toml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Project.toml b/Project.toml
index c04410ff3..4569170ee 100644
--- a/Project.toml
+++ b/Project.toml
@@ -34,8 +34,7 @@ julia = "1.0"
 [extras]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
-StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test", "Documenter", "GR", "StaticArrays"]
+test = ["Test", "Documenter", "GR"]

From d49c1a2f330ece20b3d8db8f39ba057f7d2bb6aa Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 16:30:08 +0100
Subject: [PATCH 38/46] Move ENV setup for docs

---
 .github/workflows/docs.yml   | 2 --
 docs/make.jl                 | 4 ----
 docs/src/man/introduction.md | 2 ++
 3 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 59d7bd9fe..c0194f803 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -31,8 +31,6 @@ jobs:
       - name: Test docs
         run: |
           julia --project=docs -e '
-            ENV["PLOTS_TEST"] = "true"
-            ENV["GKSwstype"] = "nul"
             using Documenter: doctest
             using ControlSystems
             doctest(ControlSystems)'
diff --git a/docs/make.jl b/docs/make.jl
index 689bbb8f7..1d72a3eb7 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -1,7 +1,3 @@
-# Set plot globals
-ENV["PLOTS_TEST"] = "true"
-ENV["GKSwstype"] = "nul"
-
 using Documenter, ControlSystems, Plots, LinearAlgebra, DSP
 #import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
 gr()
diff --git a/docs/src/man/introduction.md b/docs/src/man/introduction.md
index bcf795a75..8eb5f6df6 100644
--- a/docs/src/man/introduction.md
+++ b/docs/src/man/introduction.md
@@ -14,6 +14,8 @@ DocTestSetup = quote
     T = P/(1+P)
     plotsDir = joinpath(dirname(pathof(ControlSystems)), "..", "docs", "build", "plots")
     mkpath(plotsDir)
+    ENV["PLOTS_TEST"] = "true"
+    ENV["GKSwstype"] = "nul"
     save_docs_plot(name) = Plots.savefig(joinpath(plotsDir,name))
     save_docs_plot(p, name) = Plots.savefig(p, joinpath(plotsDir,name))
 end

From d50784bcd6bbc1b8551582d1a46741db096f2b2e Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 16:36:15 +0100
Subject: [PATCH 39/46] Revert "Move ENV setup for docs"

This reverts commit d49c1a2f330ece20b3d8db8f39ba057f7d2bb6aa.
---
 .github/workflows/docs.yml   | 2 ++
 docs/make.jl                 | 4 ++++
 docs/src/man/introduction.md | 2 --
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index c0194f803..59d7bd9fe 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -31,6 +31,8 @@ jobs:
       - name: Test docs
         run: |
           julia --project=docs -e '
+            ENV["PLOTS_TEST"] = "true"
+            ENV["GKSwstype"] = "nul"
             using Documenter: doctest
             using ControlSystems
             doctest(ControlSystems)'
diff --git a/docs/make.jl b/docs/make.jl
index 1d72a3eb7..689bbb8f7 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -1,3 +1,7 @@
+# Set plot globals
+ENV["PLOTS_TEST"] = "true"
+ENV["GKSwstype"] = "nul"
+
 using Documenter, ControlSystems, Plots, LinearAlgebra, DSP
 #import GR # Bug with world age in Plots.jl, see https://github.com/JuliaPlots/Plots.jl/issues/1047
 gr()
diff --git a/docs/src/man/introduction.md b/docs/src/man/introduction.md
index 8eb5f6df6..bcf795a75 100644
--- a/docs/src/man/introduction.md
+++ b/docs/src/man/introduction.md
@@ -14,8 +14,6 @@ DocTestSetup = quote
     T = P/(1+P)
     plotsDir = joinpath(dirname(pathof(ControlSystems)), "..", "docs", "build", "plots")
     mkpath(plotsDir)
-    ENV["PLOTS_TEST"] = "true"
-    ENV["GKSwstype"] = "nul"
     save_docs_plot(name) = Plots.savefig(joinpath(plotsDir,name))
     save_docs_plot(p, name) = Plots.savefig(p, joinpath(plotsDir,name))
 end

From cdbfe2008af68be46b9713083e061d22b68a6b39 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 15 Dec 2020 17:33:37 +0100
Subject: [PATCH 40/46] increase timeout limit for ci and docs

---
 .github/workflows/docs.yml | 2 +-
 .github/workflows/test.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 59d7bd9fe..4a7444cc8 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -14,7 +14,7 @@ jobs:
   docs:
     name: Documentation
     runs-on: ubuntu-latest
-    timeout-minutes: 30
+    timeout-minutes: 45
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 920e00ea0..6bffff87f 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -15,7 +15,7 @@ jobs:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }} # Allow nightly to fail and workflow still count as completed
-    timeout-minutes: 30
+    timeout-minutes: 45
     strategy:
       fail-fast: false
       matrix:

From 4eb8a0d05cc3f1b71db993d72de72c7fc3a68dc7 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Fri, 1 Jan 2021 21:07:01 +0100
Subject: [PATCH 41/46] Add badge for doc status

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 3e6cf5af9..3e435c5f0 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,7 @@
 # ControlSystems.jl
 
 [![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ACI)
+[![Documentation Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Documentation/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ADocumentation)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From f521f6c397f4d98febab9b73ab0ba3a59d6b2562 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 2 Jan 2021 19:18:37 +0100
Subject: [PATCH 42/46] Documentation -> Docs in actions

---
 .github/workflows/docs.yml | 2 +-
 README.md                  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 4a7444cc8..4bc3a7932 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -1,4 +1,4 @@
-name: Documentation
+name: Docs
 
 on:
   pull_request:
diff --git a/README.md b/README.md
index 3e435c5f0..c674dd925 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 # ControlSystems.jl
 
 [![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ACI)
-[![Documentation Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Documentation/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ADocumentation)
+[![Documentation Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Docs/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ADocs)
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From 53e82f9908f3183ee2ba56a411a229912b4e6a11 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 2 Jan 2021 19:37:50 +0100
Subject: [PATCH 43/46] Reduce CI timeout time

---
 .github/workflows/test.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 6bffff87f..920e00ea0 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -15,7 +15,7 @@ jobs:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
     runs-on: ${{ matrix.os }}
     continue-on-error: ${{ matrix.version == 'nightly' }} # Allow nightly to fail and workflow still count as completed
-    timeout-minutes: 45
+    timeout-minutes: 30
     strategy:
       fail-fast: false
       matrix:

From 8d677c61682863475046bf7b4c7df8d111fc35e9 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Sat, 2 Jan 2021 20:29:38 +0100
Subject: [PATCH 44/46] add newline between badges

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index c674dd925..0006472bf 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,7 @@
 
 [![Build Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/CI/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ACI)
 [![Documentation Status](https://github.com/JuliaControl/ControlSystems.jl/workflows/Docs/badge.svg)](https://github.com/JuliaControl/ControlSystems.jl/actions?query=workflow%3ADocs)
+
 [![PkgEval](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/C/ControlSystems.svg)](https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html)
 [![codecov](https://codecov.io/gh/JuliaControl/ControlSystems.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaControl/ControlSystems.jl)
 

From cb960ef15fbecd2bc97aaf9e84048f56fe49a027 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 12 Jan 2021 13:27:18 +0100
Subject: [PATCH 45/46] Add strict check for docs, remove double doctest

---
 .github/workflows/docs.yml | 34 +++++++++++++++++++++-------------
 docs/make.jl               |  3 ++-
 2 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 4bc3a7932..8107a4a8c 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -13,30 +13,38 @@ on:
 jobs:
   docs:
     name: Documentation
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
+    strategy:
+      matrix:
+        version: [1]
+        arch: [x86]
+        os: [ubuntu-latest]
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 30
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
         with:
-          version: '1'
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
       - name: Install apt deps
         run: sudo apt-get install libgtk-3-dev dvipng texlive
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
       - name: Setup docs environment
         run: |
           julia --project=docs -e '
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
-      - name: Test docs
-        run: |
-          julia --project=docs -e '
-            ENV["PLOTS_TEST"] = "true"
-            ENV["GKSwstype"] = "nul"
-            using Documenter: doctest
-            using ControlSystems
-            doctest(ControlSystems)'
-      - name: Generate documentation
-        run: julia --project=docs docs/make.jl
+      - name: Test and generate documentation
+        run: julia --project=docs --color=yes docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/docs/make.jl b/docs/make.jl
index 689bbb8f7..942c0ee12 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -30,6 +30,7 @@ println("Making docs")
 makedocs(modules=[ControlSystems],
     format=Documenter.HTML(),
     sitename="ControlSystems.jl",
+    strict=true,
     pages=[
         "Home" => "index.md",
         "Guide" => Any[
@@ -47,6 +48,6 @@ makedocs(modules=[ControlSystems],
             "Plotting" => "lib/plotting.md",
         ],
     ]
-    )
+)
 
 deploydocs(repo = "github.com/JuliaControl/ControlSystems.jl.git")

From 58d0c645371fc709bb911a46beec7801ae6a0816 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Wed, 13 Jan 2021 08:57:56 +0100
Subject: [PATCH 46/46] Run doctest twice until we figure out strict kw

---
 .github/workflows/docs.yml | 18 +++++++++++++-----
 docs/make.jl               |  2 +-
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 8107a4a8c..5aeb3dbc1 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -12,14 +12,14 @@ on:
 
 jobs:
   docs:
-    name: Documentation
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }} 
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 30
     strategy:
       matrix:
         version: [1]
-        arch: [x86]
         os: [ubuntu-latest]
-    runs-on: ${{ matrix.os }}
-    timeout-minutes: 30
+        arch: [x64]
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
@@ -44,7 +44,15 @@ jobs:
             using Pkg
             Pkg.develop(PackageSpec(path=pwd()))
             Pkg.instantiate()'
-      - name: Test and generate documentation
+      - name: Test docs # Test are also run in the makedocs, but there they don't error properly unless we set strict in which case warnings also error
+        run: |
+          julia --project=docs -e '
+            ENV["PLOTS_TEST"] = "true"
+            ENV["GKSwstype"] = "nul"
+            using Documenter: doctest
+            using ControlSystems
+            doctest(ControlSystems)'
+      - name: Generate documentation
         run: julia --project=docs --color=yes docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/docs/make.jl b/docs/make.jl
index 942c0ee12..1df95e1c8 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -30,7 +30,7 @@ println("Making docs")
 makedocs(modules=[ControlSystems],
     format=Documenter.HTML(),
     sitename="ControlSystems.jl",
-    strict=true,
+    #strict=true,
     pages=[
         "Home" => "index.md",
         "Guide" => Any[