Fix canonical form 'observable'

lorenz-halt · lorenz-halt · commit 598a91aa0d66 · 2018-04-18T10:33:56.000+02:00
diff --git a/control/canonical.py b/control/canonical.py
@@ -133,7 +133,7 @@ def observable_form(xsys):
     Wrz = obsv(zsys.A, zsys.C)
 
     # Transformation from one form to another
-    Tzx = inv(Wrz) * Wrx
+    Tzx = solve(Wrz, Wrx)  # matrix right division, Tzx = inv(Wrz) * Wrx
 
     # Finally, compute the output matrix
     zsys.B = Tzx * xsys.B
