control.canonical_form

control.canonical_form(xsys, form='reachable')

Convert a system into canonical form

Parameters:
  • xsys (StateSpace object) – System to be transformed, with state ‘x’
  • form (String) –
    Canonical form for transformation. Chosen from:
    • ’reachable’ - reachable canonical form
    • ’observable’ - observable canonical form
    • ’modal’ - modal canonical form
Returns:

  • zsys (StateSpace object) – System in desired canonical form, with state ‘z’
  • T (matrix) – Coordinate transformation matrix, z = T * x