control.linearize
- control.linearize(sys, xeq, ueq=None, t=0, params=None, **kw)[source]
Linearize an input/output system at a given state and input.
Compute the linearization of an I/O system at an operating point (state and input) and returns a
StateSpaceobject. The operating point need not be an equilibrium point.- Parameters
sys (InputOutputSystem) – The system to be linearized.
xeq (array or
OperatingPoint) – The state or operating point at which the linearization will be evaluated (does not need to be an equilibrium state).ueq (array, optional) – The input at which the linearization will be evaluated (does not need to correspond to an equlibrium state). Can be omitted if xeq is an
OperatingPoint. Defaults to 0.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.
name (string, optional) – Set the name of the linearized system. If not specified and if copy_names is False, a generic name <sys[id]> is generated with a unique integer id. If copy_names is True, the new system name is determined by adding the prefix and suffix strings in config.defaults[‘iosys.linearized_system_name_prefix’] and config.defaults[‘iosys.linearized_system_name_suffix’], with the default being to add the suffix ‘$linearized’.
copy_names (bool, Optional) – If True, Copy the names of the input signals, output signals, and states to the linearized system.
inputs (int, list of str or None, optional) – Description of the system inputs. If not specified, the original system inputs are used. See
InputOutputSystemfor more information.outputs (int, list of str or None, optional) – Description of the system outputs. Same format as inputs.
states (int, list of str, or None, optional) – Description of the system states. Same format as inputs.
- Returns
ss_sys – The linearization of the system, as a
StateSpaceobject.- Return type