#### Previous topic

scipy.signal.zpk2ss

#### Next topic

scipy.signal.ss2zpk

# scipy.signal.ss2tf

`scipy.signal.``ss2tf`(A, B, C, D, input=0)

  State-space to transfer function.

  A, B, C, D defines a linear state-space system with p inputs, q outputs, and n state variables.

  Parameters: | A : array_like State (or system) matrix of shape `(n, n)` B : array_like Input matrix of shape `(n, p)` C : array_like Output matrix of shape `(q, n)` D : array_like Feedthrough (or feedforward) matrix of shape `(q, p)` input : int, optional For multiple-input systems, the index of the input to use.
  Returns: | num : 2-D ndarray Numerator(s) of the resulting transfer function(s). num has one row for each of the system’s outputs. Each row is a sequence representation of the numerator polynomial. den : 1-D ndarray Denominator of the resulting transfer function(s). den is a sequence representation of the denominator polynomial.

  Examples

  Convert the state-space representation:

  \[ \begin{align}\begin{aligned}\begin{split}\dot{\textbf{x}}(t) = \begin{bmatrix} -2 & -1 \\ 1 & 0 \end{bmatrix} \textbf{x}(t) + \begin{bmatrix} 1 \\ 0 \end{bmatrix} \textbf{u}(t) \\\end{split}\\\textbf{y}(t) = \begin{bmatrix} 1 & 2 \end{bmatrix} \textbf{x}(t) + \begin{bmatrix} 1 \end{bmatrix} \textbf{u}(t)\end{aligned}\end{align} \]

      >>> A = [[-2, -1], [1, 0]]
      >>> B = [[1], [0]]  # 2-dimensional column vector
      >>> C = [[1, 2]]    # 2-dimensional row vector
      >>> D = 1

  to the transfer function:

  \[H(s) = \frac{s^2 + 3s + 3}{s^2 + 2s + 1}\]

      >>> from scipy.signal import ss2tf
      >>> ss2tf(A, B, C, D)
      (array([[1, 3, 3]]), array([ 1.,  2.,  1.]))