![]() This form, the coefficients of the characteristic polynomial appear in the last row ofĪ minimal realization in which all model states are controllable. This form is also known as phase-variable canonical form. Is the dual (transpose) of controllable companion form, as follows:Ī c o n t =, B c o n t =, C c o n t =, D c o n t = d 0. Obsv(H.A,H.B) instead of T = ctrb(H.A,H.B). ![]() Observable Companion FormĪ related form is obtained using the observability state transformation T = Hence,Īvoid using it for computation when possible. Matrix, which is almost always numerically singular for mid-range orders. The transformation to companion form is based on the controllability The companion transformation requires that the system be controllable from theįirst input. When performing system identification using commands such as ssest (System Identification Toolbox) or n4sid (System Identification Toolbox), obtain companion form by T = ctrb(H.A,H.B) to put the A matrix into The command csys = compreal(H,"c") computes a controllableĬompanion-form realization of H by using the state transformation This form does not impose a particular structure on the rest ofĭ ccom. įor multi-input systems, A ccom has the sameįorm, and the first column of B ccom is as
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