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fixes to unit tests so that they pass when the default array type is ndarray#433

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bnavigator merged 5 commits into
python-control:masterfrom
sawyerbfuller:ndarray-is-default
Aug 17, 2020
Merged

fixes to unit tests so that they pass when the default array type is ndarray#433
bnavigator merged 5 commits into
python-control:masterfrom
sawyerbfuller:ndarray-is-default

fixes in canonical and canonical_test that were assuming numpy.matrix

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