diff --git a/control/statesp.py b/control/statesp.py
index 41f92ae21..ca6f99d86 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -1988,3 +1988,41 @@ def linfnorm(sys, tol=1e-10):
fpeak /= sys.dt
return gpeak, fpeak
+
+def discrete2cont(sys, method='zoh'):
+ """ Transform a discrete state-space system to a continuous state-space system.
+ Parameters
+ ------
+ sys : Discrete LTI (StateSpace or TransferFunction) system to transform
+ method: The method that was used for discretization
+
+ Returns
+ ------
+ sysc : Continuous LIT (StateSpace or TransferFunction) system depending on the input form.
+ """
+ # check if system is of type state space and convert if not
+ #if sys.
+
+ if not(isinstance(sys, StateSpace)):
+ sys = convert_to_statespace(sys)
+ was_tf = true
+ if method == 'zoh':
+ Ac = scipy.linalg.logm(sys.A)/sys.dt
+ Bc = np.linalg.inv(np.linalg.inv(Ac)@(sys.A-np.eye(np.shape(sys.A)[0])))@sys.B
+
+ # remove small numbers
+ Ac = np.around(Ac/1e-6)*1e-6
+ Bc = np.around(Bc/1e-6)*1e-6
+
+ # turn -0 to 0
+ Ac[np.abs(Ac)<1e-6] = 0
+ Bc[np.abs(Bc)<1e-6] = 0
+
+ sysc = StateSpace(Ac,Bc,sys.C,sys.D,0)
+ else:
+ raise NotImplementedError("Method: " + method + " is not implemented in this function!")
+
+ if was_tf:
+ sysc = ss2tf(sysc)
+
+ return sysc
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