control.reachable_form

control.reachable_form(xsys)

Convert a system into reachable canonical form.

Parameters:

xsysStateSpace object

System to be transformed, with state x.

Returns:

zsysStateSpace object

System in reachable canonical form, with state z.

T(M, M) real ndarray

Coordinate transformation: z = T * x.

Examples

>>> Gs = ct.tf2ss([1], [1, 3, 2])
>>> Gc, T = ct.reachable_form(Gs)  # default reachable
>>> Gc.B
array([[1.],
       [0.]])