control.minimal_realization
- control.minimal_realization(sys, tol=None, verbose=True)[source]
Eliminate uncontrollable or unobservable states.
Eliminates uncontrollable or unobservable states in state-space models or cancelling pole-zero pairs in transfer functions. The output sysr has minimal order and the same response characteristics as the original model sys.
- Parameters
sys (StateSpace or TransferFunction) – Original system.
tol (real) – Tolerance.
verbose (bool) – Print results if True.
- Returns
rsys – Cleaned model.
- Return type