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