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I'm looking for a mathematical proof or example of non tranformable model, and I couldn't find any.

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    $\begingroup$ Are you assuming that the state space model is minimal (observable and controllable)? $\endgroup$ – fibonatic Sep 20 '20 at 19:31
  • $\begingroup$ Welcome to Robotics, but I'm afraid that it is not clear what you are asking. We prefer practical, answerable questions based on actual problems that you face, so it's a good idea to include details of what you want to understand, what you've researched so far, what you found & what you expected to find. Please take a look at How to Ask & tour for more information on how stack exchange works and work through the Robotics question checklist to edit your question to make it clearer. $\endgroup$ – Ben Sep 20 '20 at 19:59
  • $\begingroup$ Yes, I assume that the state space model is observable and controllable. $\endgroup$ – kiabonov Sep 21 '20 at 15:00

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