control.modal_form

control.modal_form(xsys, condmax=None, sort=False)

Convert a system into modal canonical form

Parameters

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

• condmax (None or float, optional) – An upper bound on individual transformations. If None, use bdschur default.

• sort (bool, optional) – If False (default), Schur blocks will not be sorted. See bdschur for sort order.

Returns

• zsys (StateSpace object) – System in modal canonical form, with state z

• T ((M, M) ndarray) – Coordinate transformation: z = T * x