control.modal_form

control.modal_form(xsys, condmax=None, sort=False)[source]

Convert a system into modal canonical form.

Parameters

xsysStateSpace object: System to be transformed, with state x.
condmaxNone or float, optional: An upper bound on individual transformations. If None, use bdschur default.
sortbool, optional: If False (default), Schur blocks will not be sorted. See bdschur for sort order.

Returns

zsysStateSpace object: System in modal canonical form, with state z.
T(M, M) ndarray: Coordinate transformation: z = T * x.

Examples

>>> Gs = ct.tf2ss([1], [1, 3, 2])
>>> Gc, T = ct.modal_form(Gs)  # default reachable
>>> Gc.A                                                    
array([[-2.,  0.],
       [ 0., -1.]])