control.canonical_form

control.canonical_form(xsys, form='reachable')

Convert a system into canonical form

Parameters:

xsys : StateSpace object

System to be transformed, with state ‘x’

form : String

Canonical form for transformation. Chosen from:

• ‘reachable’ - reachable canonical form
• ‘observable’ - observable canonical form [not implemented]
• ‘modal’ - modal canonical form [not implemented]

Returns:

zsys : StateSpace object

System in desired canonical form, with state ‘z’

T : matrix

Coordinate transformation matrix, z = T * x