control.minreal

control.minreal(sys, tol=None, verbose=True)

Eliminates uncontrollable or unobservable states in state-space models or cancelling pole-zero pairs in transfer functions. The output sysr has minimal order and the same response characteristics as the original model sys.

Parameters:

sys: StateSpace or TransferFunction

Original system

tol: real

Tolerance

verbose: bool

Print results if True

Returns:

rsys: StateSpace or TransferFunction

Cleaned model