control.reachable_form

control.reachable_form(xsys)

Convert a system into reachable canonical form.

Parameters

xsysStateSpace object

System to be transformed, with state x.

Returns

zsysStateSpace object

System in reachable 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.reachable_form(Gs)  # default reachable
>>> Gc.B
array([[1.],
       [0.]])