control.observable_form¶

control.observable_form(xsys)[source]¶

Convert a system into observable canonical form.

Parameters

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

Returns

zsys (StateSpace object) – System in observable canonical form, with state z
T ((M, M) real ndarray) – Coordinate transformation: z = T * x

Examples

>>> Gs = ct.tf2ss([1], [1, 3, 2])
>>> Gc, T = ct.observable_form(Gs)
>>> Gc.C
array([[1., 0.]])