<ol dir="auto">
<li>ltisys:150:
<ul dir="auto">
<li>
<div class="snippet-clipboard-content notranslate position-relative overflow-auto" data-snippet-clipboard-copy-content="`# transfer function is C (sI - A)**(-1) B + D`"><pre class="notranslate"><code class="notranslate">`# transfer function is C (sI - A)**(-1) B + D`
</code></pre></div>
should read:<br>
<code class="notranslate">#  transfer matrix is C (sI - A)**(-1) B + D</code></li>
<li>Although, this matrix is not actually calculated, so the comment should probably be removed.</li>
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</li>
<li>ltisys:179:
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<li>
<div class="snippet-clipboard-content notranslate position-relative overflow-auto" data-snippet-clipboard-copy-content="`type_test = A[:, 0] + B[:, 0] + C[0, :] + D`"><pre class="notranslate"><code class="notranslate">`type_test = A[:, 0] + B[:, 0] + C[0, :] + D`
</code></pre></div>
</li>
<li>Results in an error when a system with multiple <strong>ouputs</strong> is passed to ss2tf.</li>
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<p dir="auto">Suggested fix: add an optional argument 'output' which specifies the output for which the transfer function is desired.</p>
<h3 dir="auto">Is your feature request related to a problem? Please describe.</h3>
<p dir="auto">If we specify the covariance matrix manually, we usually do it in a form of rotation matrix and variances. So running the decomposition internally is redundant and inefficient.</p>
<h3 dir="auto">Describe the solution you'd like.</h3>
<p dir="auto">Internally the covariance matrix should be stored in the decomposed form, so we can alter the components separately. We should be able to provide them explicitly, so skipping the solver. We should also be able to provide the angles instead of the matrix, as a more convenient interface, so we don't have to mess with <code class="notranslate">.spatial.transform.Rotation</code> ourselves.</p>
<h3 dir="auto">Describe alternatives you've considered.</h3>
<p dir="auto"><em>No response</em></p>
<h3 dir="auto">Additional context (e.g. screenshots, GIFs)</h3>
<p dir="auto"><em>No response</em></p>