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{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"Elegant way to generate a transfer function matrix","articleBody":"Hi everybody,\r\nI want to know if there is a more elegant way to generate a transfer-function-matrix for a hinf-controller.\r\n\r\nIn matlab I just do:\r\nP11 = [0 0; W2*G W2]\r\nP12 = [W1; W2*G]\r\nP21 = [G 1]\r\nP22 = [G]\r\nP_ = [P11 P12; P21 P22]\r\nsys = ss(P_, 'minimal');\r\n\r\nIn python with control, I habe to do:\r\nimport control\r\nfrom control import *\r\nGss = ss([[-1.0, -10.0], [1, 0]],  [[10.0], [0]], [0, 1], [0])\r\nG = tf(Gss)\r\nW1 = tf([100], [0.1, 1])\r\nW2 = tf([100], [0.1, 1])\r\nW2G = W2*G\r\nnum = [ [ [0], [0], W1.num[0][0] ],  [W2G.num[0][0], W2.num[0][0], G.num[0][0]], [G.num[0][0], [1], G.num[0][0] ] ]   \r\nden = [ [ [1], [1], W1.den[0][0] ],  [W2G.den[0][0], W2.den[0][0], G.den[0][0]], [G.den[0][0], [1], G.den[0][0] ] ] \r\nP = tf( num, den )\r\nprint(P)\r\n\r\nThe problem is that the return of the numerator and denominator is not directly the list.\r\n\r\nAnd I get a high order system. Should I use just the balanced trunction?\r\nPss = ss(P)\r\nPbr = balred(Pss, 4)\r\n\r\n________________________\r\nMatlab is using minreal with exist also in \"control\", but I have to find manually a suitable tolerance...","author":{"url":"https://github.com/iljastas","@type":"Person","name":"iljastas"},"datePublished":"2019-07-10T13:46:19.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":18},"url":"https://github.com/325/python-control/issues/325"}