[Diff since v1.11.1](v1.11.1...v1.11.2)

**Merged pull requests:**
- do not promote system type when creating a vector (#958) (@baggepinnen)
- remove some dependencies (#959) (@baggepinnen)
- move DSP to an extension (#960) (@baggepinnen)
- Fix negative phase margin (#962) (@baggepinnen)
- Extend docstring (#963) (@CasBex)
- Export PID conversion functions (#964) (@baggepinnen)
- allow more discretization methods in lsim (#966) (@baggepinnen)
- add backward euler discretization (#967) (@baggepinnen)
- add Padé approximation with different numerator and denominator degree (#968) (@baggepinnen)
- handle phase wrapping in margin (#969) (@baggepinnen)
- tweak computation of integrator excess (#970) (@baggepinnen)

**Closed issues:**
- margin() gives incorrect phase margin for system with negative margin (#961)

[Diff since v1.11.0](v1.11.0...v1.11.1)

**Merged pull requests:**
- add 2DOF pid constructor (#951) (@baggepinnen)
- make `feedback2dof` work for any system type (#952) (@baggepinnen)
- add `filter_order` option to `pid` (#953) (@baggepinnen)
- add support for setting filter damping in `pid` (#954) (@baggepinnen)
- add `bodemag_nohess!` (#955) (@baggepinnen)
- avoid some type issues arising with Symbolics (#956) (@baggepinnen)
- add fast path for kd=0 in pid_2dof (#957) (@baggepinnen)

**Closed issues:**
- Tests for pid_design.jl and discrete.jl (#58)
- ControlSystems + DSP (#92)
- Function tf and ss (#145)
- to_matrix (#224)
- Remove LaTeX in plot recipies (#383)
- Problems with getPhaseTicks and getLogTicks (#435)
- Luenberger/Ackermann pole placement for MIMO systems. (#456)
- Update docs for freqresp (#461)
- Help Request: Time Varying LQR Solution (#463)
- Deprecate `norm`? (#543)
- Remaining uses of plot (#610)
- Building a vector of both continuous and discrete (#665)
- Delay system in feedback path throws a method error (#762)
- LsimWorkspace not working for discrete transfer functions (#833)
- Implement `/\` in terms of `feedback` (#901)

[Diff since v1.10.5](v1.10.5...v1.11.0)

**Merged pull requests:**
- fix #941 (#942) (@baggepinnen)
- add concatenation for SimResult (#945) (@baggepinnen)
- bump compat DSP (#946) (@baggepinnen)
- Add function for stable/unstable decomposition (#947) (@baggepinnen)
- remove use of `Polyester.@batch` due to segfault (#948) (@baggepinnen)
- widen the scope of `ss*mat` method (#949) (@baggepinnen)
- add tools for counting multiple eigvals and adjust bode phase start (#950) (@baggepinnen)

**Closed issues:**
- bode() returns only phases in interval +/- 180° (#422)
- `margin` throws an error when the system has delay (#941)
- augstate function for full-state feedback functionality. (#943)

[Diff since v1.10.4](v1.10.4...v1.10.5)

**Merged pull requests:**
- use eps of correct type in balreal (#927) (@baggepinnen)
- Update `minreal` docstring (#935) (@franckgaga)
- add fix for step with plotx and MIMO systems (#936) (@baggepinnen)
- add functions returning the resolvent of a system (#939) (@baggepinnen)
- bump compat DiffEqCallbacks (#940) (@baggepinnen)

**Closed issues:**
- Revisiting old code: was there ever an `LTISystem` composed type in `ControlSystems.jl`? (#938)

[Diff since v1.10.3](v1.10.3...v1.10.4)

**Merged pull requests:**
- Add "asymptotic" keyword to `kalman` docstring (#929) (@franckgaga)
- add `\` for ss and handle some cases of multiplication with improper tf (#930) (@baggepinnen)
- Update zoh.md (#933) (@baggepinnen)
- handle non-identity uniform scalings in covar (#934) (@baggepinnen)

**Closed issues:**
- Optimization-based tuning–PID controller with Delay (#931)
- An incorrect formula in the documentation (#932)

[Diff since v1.10.2](v1.10.2...v1.10.3)

**Merged pull requests:**
- more helpful error message in baltrunc (#926) (@baggepinnen)
- bump compat DiffEqCallbacks (#928) (@baggepinnen)

**Closed issues:**
- B matrix cannot contain too many zero elements for baltrunc (#925)

[Diff since v1.10.1](v1.10.1...v1.10.2)

**Merged pull requests:**
- Fix Bode plot with zero magnitude (#911) (@baggepinnen)
- try enable CI caches (#914) (@baggepinnen)
- handle rounding error in Nyquist freq for default freq vec (#915) (@baggepinnen)
- Update compat OrdinaryDiffEq (#923) (@baggepinnen)

**Closed issues:**
- Discrete bode default axis ranges (#438)
- Change input/output plot order of SimResult (#919)
- Step response (at a t0 instant) of a first order system with delay doesn't work correctly with lsim (but works fine with step but with t0=0) (#920)

[Diff since v1.10.0](v1.10.0...v1.10.1)

**Merged pull requests:**
- try make codecov look at results from all test groups (#907) (@baggepinnen)
- fix #909 (#910) (@baggepinnen)

**Closed issues:**
- d2c_exact should work with gains (i.e. state space systems without states) (#909)

[Diff since v1.9.0](v1.9.0...v1.10.0)

**Merged pull requests:**
- add Thiran approximation of fractional-delay systems (#905) (@baggepinnen)
- handle proper quotient of proper statespace systems (#906) (@baggepinnen)

[Diff since v1.8.2](v1.8.2...v1.9.0)

**Merged pull requests:**
- more coverage (#893) (@baggepinnen)
- bump compat poly v4 (#899) (@baggepinnen)
- Convert pid parameters to :parallel (#900) (@mzaffalon)
- Add exact frequency-domain translation of discrete systems to continuous time (#902) (@baggepinnen)
- add tutorial analyzing hybrid systems (#903) (@baggepinnen)

**Closed issues:**
- Gamma contour in Nyquist plot (#796)
- `pid` with zero proportional gain (#897)
- ControlSystemsBase blocking Polynomials.jl v4 (#898)