control.reachable_form

control.reachable_form(xsys)[source]

Convert a system into reachable canonical form.

Parameters

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

Returns

zsys (StateSpace 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.]])