def tb01pd_example():
A = array([[-1, 0],[0,-1]])
B = ones((2,1))
C = array([[0,1]])
out = slycot.tb01pd(2, 1, 1, A, B, C)
print('--- Example for tb01pd ...')
print('Minimal realization for A, B, C')
print('reduced order', out[-2])
print(out)
def tb01pd_example():
A = array([[-1, 0],[0,-1]])
B = ones((2,1))
C = array([[0,1]])
out = slycot.tb01pd(2, 1, 1, A, B, C)
print('--- Example for tb01pd ...')
print('Minimal realization for A, B, C')
print('reduced order', out[-2])
print(out)
def minreal(self, tol=0.0):
"""Calculate a minimal realization, removes unobservable and
uncontrollable states"""
try:
from slycot import tb01pd
B = empty((self.states, max(self.inputs, self.outputs)))
B[:,:self.inputs] = self.B
C = empty((max(self.outputs, self.inputs), self.states))
C[:self.outputs,:] = self.C
A, B, C, nr = tb01pd(self.states, self.inputs, self.outputs,
self.A, B, C, tol=tol)
return StateSpace(A[:nr,:nr], B[:nr,:self.inputs],
C[:self.outputs,:nr], self.D)
except ImportError:
raise TypeError("minreal requires slycot tb01pd")
