control.minimal_realization

control.minimal_realization(sys, tol=None, verbose=True)

Eliminate uncontrollable or unobservable states.

Eliminates uncontrollable or unobservable states in state-space models or canceling pole-zero pairs in transfer functions. The output sysr has minimal order and the same response characteristics as the original model sys.

Parameters

sysStateSpace or TransferFunction

Original system.

tolreal

Tolerance.

verbosebool

Print results if True.

Returns

rsysStateSpace or TransferFunction

Cleaned model.