If you are looking for the use of a particular function, try the Function index.

There is also a set of YouTube videos linked to the course.

# tbcontrol¶

The tbcontrol module contains functions helpful to students learning to solve control problems. It is broken up into submodules.

## symbolic¶

• linearise attempt to linearise a symbolic expression
• routh construct a Routh-Hurwitz array
• pade pade approximation
• ss2tf determine the transfer function version of a state space realisation
• sampledvalues invert the Z transform symbolically
• evaluate_at_times evaluate a sympy expression at numeric times (useful for plotting responses)

## numeric¶

• skogestad_half find an approximation of a high order system by Skogestad's half rule

## plotting¶

• cross_axis create an axis in Matplotlib which has spines going through the origin like a Nyquist diagram would

## loops¶

• feedback calculate the result of having two blocks in a feedback loop

## responses¶

Step responses of certain systems

• fopdt first order plus dead time
• sopdt second order plus dead time
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