The [python-control](http://python-control.sourceforge.net/manual/intro.html) package just crossed my path:

> The python-control package is a set of python classes and functions that implement common operations for the analysis and design of feedback control systems. The initial goal is to implement all of the functionality required to work through the examples in the textbook Feedback Systems by Astrom and Murray. A MATLAB compatibility package (control.matlab) is available that provides many of the common functions corresponding to commands available in the MATLAB Control Systems Toolbox.

The github page is https://github.com/python-control/python-control