control.reachable_form

control.reachable_form(xsys)[source]

Convert a system into reachable canonical form

Parameters

xsys (StateSpace object) – System to be transformed, with state x

Returns

  • zsys (StateSpace object) – System in reachable canonical form, with state z

  • T ((M, M) real ndarray) – Coordinate transformation: z = T * x