Inputs

sys

LTI model.

realization

The realization argument selects the companion form:

'c'

Controllable companion form, the default if realization is omitted.

'o'

Observable companion form.

Outputs

csys

State-space model in companian form.

T

Transformation matix.

Given the state vector $$x(t)$$

We look for a transformation matrix such that

$$ x(t)=Tz(t) $$

Where $T$ is our transformation matrix and $z(t)$ is our new state vector. Our new state-space is given by the following relationships:

$$ A_z = T^{-1}AT $$$$ B_z = T^{-1}B $$$$ C_z = CT $$$$ D_z = D $$

Alorithm based on

1. T. Kailath, Linear systems. Prentice-Hall Englewood Cliffs, NJ, 1980. ISBM 0-13-536961-4. Eequation (15a) and (15b)

Source Code: compreal