python-control
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diff --git a/‎examples/test-statefbk.py‎
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+""" check-controllability-and-observability.py
+
+Example to check the controllability and the observability of a state space system.
+RMM, 6 Sep 2010
+"""
+
+from __future__ import print_function
+
+from scipy import *  # Load the scipy functions
+from control.matlab import *  # Load the controls systems library
+
+# Parameters defining the system
+
+m = 250.0  # system mass
+k = 40.0  # spring constant
+b = 60.0  # damping constant
+
+# System matrices
+A = matrix([[1, -1, 1.],
+            [1, -k / m, -b / m],
+            [1, 1, 1]])
+
+B = matrix([[0],
+            [1 / m],
+            [1]])
+
+C = matrix([[1., 0, 1.]])
+
+sys = ss(A, B, C, 0)
+
+# Check controllability
+Wc = ctrb(A, B)
+print("Wc = ", Wc)
+
+# Check Observability
+Wo = obsv(A, C)
+print("Wo = ", Wo)