(self)
return Ad
Return the discretized, scaled, linearized system.

        Returns
        -------
        Ad : ndarray
            The discrete-time state matrix.
Return the discretized, scaled, linearized system.
Return the discretized scaled linearized system .
def linearize(self):
        """Return the discretized, scaled, linearized system.

        Returns
        -------
        Ad : ndarray
            The discrete-time state matrix.

        """
        A = np.array([[0, -1], [1, -1]], dtype=config.np_dtype)
        if self.normalization is not None:
            Tx = np.diag(self.normalization)
            Tx_inv = np.diag(self.inv_norm)
            A = np.linalg.multi_dot((Tx_inv, A, Tx))
        B = np.zeros([2, 1])
        Ad, _, _, _, _ = signal.cont2discrete((A, B, 0, 0), self.dt, method='zoh')
        return Ad
def linearize ( self ) : A = np . array ( [ [ 0 , - 1 ] , [ 1 , - 1 ] ] , dtype = config . np_dtype ) if self . normalization is not None : Tx = np . diag ( self . normalization ) Tx_inv = np . diag ( self . inv_norm ) A = np . linalg . multi_dot ( ( Tx_inv , A , Tx ) ) B = np . zeros ( [ 2 , 1 ] ) Ad , _ , _ , _ , _ = signal . cont2discrete ( ( A , B , 0 , 0 ) , self . dt , method = 'zoh' ) return Ad