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Themodal_form() function appears to assume that all eigenvalues are distinct. The following example gives strange results:
import control as ctsys_repeat = ct.StateSpace([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], [[0]])sys_modal, T = ct.modal_form(sys_repeat)print(sys_modal)which yields
A = [[-1.00000000e+00 0.00000000e+00] [ 2.22044605e-16 -1.00000000e+00]]B = [[4.50359963e+15] [4.50359963e+15]]C = [[-1. 1.]]D = [[0.]]The problem is that the transformationT as computed inmodal_form is singular:
[[-1.00000000e+00 1.00000000e+00] [ 2.22044605e-16 0.00000000e+00]]