harold.transfer_to_state¶
-
harold.
transfer_to_state
(G, output='system')¶ Converts a
Transfer
to aState
Given a Transfer() object of a tuple of numerator and denominator, converts the argument into the state representation. The output can be selected as a State() object or the A,B,C,D matrices if ‘output’ keyword is given with the option ‘matrices’.
If the input is a State() object it returns the argument with no modifications.
For SISO systems, the algorithm is returning the controllable companion form.
For MIMO systems a variant of the algorithm given in Section 4.4 of W.A. Wolowich, Linear Multivariable Systems (1974). The denominators are equaled with haroldlcm() Least Common Multiple function.
Parameters: - G ({Transfer, State, (num, den)}) – The system or a tuple containing the numerator and the denominator
- output ({'system','matrices'}) – Selects whether a State() object or individual state matrices will be returned.
Returns: - Gs (State) – If ‘output’ keyword is set to ‘system’
- A,B,C,D ({(nxn),(nxm),(p,n),(p,m)} 2D Numpy-arrays) – If the ‘output’ keyword is set to ‘matrices’
Notes
If G is a State object, it is returned directly.