control.iosys.linearize

control.iosys.linearize(sys, xeq, ueq=[], t=0, params={}, **kw)

Linearize an input/output system at a given state and input.

This function computes the linearization of an input/output system at a given state and input value and returns a control.StateSpace object. The eavaluation point need not be an equilibrium point.

Parameters

  • sys (InputOutputSystem) – The system to be linearized

  • xeq (array) – The state at which the linearization will be evaluated (does not need to be an equlibrium state).

  • ueq (array) – The input at which the linearization will be evaluated (does not need to correspond to an equlibrium state).

  • t (float, optional) – The time at which the linearization will be computed (for time-varying systems).

  • params (dict, optional) – Parameter values for the systems. Passed to the evaluation functions for the system as default values, overriding internal defaults.

Returns

ss_sys – The linearization of the system, as a LinearIOSystem object (which is also a StateSpace object.

Return type

LinearIOSystem