import numpy as np
import control

# %% Model params:

m = 10  # [kg] 
k = 4  # [N/m] 
d = 2  # [N/(m/s)] 

# %% System matrices as 2D arrays:

A = np.array([[0, 1], [-k/m, -d/m]])
B = np.array([[0], [1/m]])
D = np.array([[0]])

# %% Creating the state space model with x1 as output:

C1 = np.array([[1, 0]])
S1 = control.ss(A, B, C1, D)

# %% Deriving transfer function H1 from S1:

H1 = control.ss2tf(S1)

# %% Displaying H1:

print('H1 =', H1)

# %% Creating the state space model with x2 as output:

C2 = np.array([[0, 1]])
S2 = control.ss(A, B, C2, D)

# %% Deriving transfer function H2 from S2:

H2 = control.ss2tf(S2)

# %% Displaying H1: 

print('H2 =', H2)