A Control Systems Toolbox

Solves control systems problems relating to time/frequency response, LTI systems design and analysis, transfer function manipulations, and system conversion.

The Control Systems Toolbox is an R library that implements basic operations for the design and analysis of control systems.

This library started as a Google Summer of Code project (2017) and was mentored by Dr. M. Kostrun and Hans W Borchers


The package may be installed from this GitHub repository using devtools in the following manner:

install.packages("devtools") # if not already installed on your PC



  • Model Creation: Transfer function(tf), State-space(ss) and Zero-pole-gain (zpk) models; Transfer function Expressions
  • Model Conversion: tf2ss, tf2zp, ss2tf, ss2zp, zp2tf, zp2ss, tfdata, ssdata, zpkdata
  • System Interconnection: append, serial, parallel, feedback, connect
  • Analysis: ctrb, obsv, pole, damp, dcgain
  • Design: acker, care, pid, place, lqr
  • Time Response: gensig, ltitr, lsim, initial, impulse, ramp, step
  • Frequency Response: ltifr, freqresp, bode and nyquist
  • Plotting: lsimplot, initialplot, impulseplot, rampplot, stepplot, bodeplot, nyquistplot
  • Others: c2d, ode2ss

Most fundamental features of this toolbox were developed during the Google Summer of Code 2017 and a list of functions and activities produced during this summer could be found here.

Google Summer of Code project (2017) related articles demonstrating the usage of this toolbox are underlisted:


All callable functions (including utilities) are documented and could be accessed within the R environment after installing the toolbox.

A web-browser readable format of the documentation could be found here: https://rdrr.io/github/benubah/control/api/


Reference manual

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0.2.5 by Ben C. Ubah, a year ago

Report a bug at https://github.com/benubah/control/issues

Browse source code at https://github.com/cran/control

Authors: Ben C. Ubah [aut, cre]

Documentation:   PDF Manual  

GPL-2 license

Imports pracma, expm, signal, Matrix, graphics, stats

Suggests testthat

See at CRAN