diff --git a/control/xferfcn.py b/control/xferfcn.py
index 44a038773..1ef0661a5 100644
--- a/control/xferfcn.py
+++ b/control/xferfcn.py
@@ -268,6 +268,45 @@ def __str__(self, var=None):
# represent as string, makes display work for IPython
__repr__ = __str__
+ def _repr_latex_(self, var=None):
+ """LaTeX representation of the transfer function, for Jupyter notebook"""
+
+ mimo = self.inputs > 1 or self.outputs > 1
+
+ if var is None:
+ # ! TODO: replace with standard calls to lti functions
+ var = 's' if self.dt is None or self.dt == 0 else 'z'
+
+ out = ['$$']
+
+ if mimo:
+ out.append(r"\begin{bmatrix}")
+
+ for i in range(self.outputs):
+ for j in range(self.inputs):
+ # Convert the numerator and denominator polynomials to strings.
+ numstr = _tf_polynomial_to_string(self.num[i][j], var=var)
+ denstr = _tf_polynomial_to_string(self.den[i][j], var=var)
+
+ out += [r"\frac{", numstr, "}{", denstr, "}"]
+
+ if mimo and j < self.outputs - 1:
+ out.append("&")
+
+ if mimo:
+ out.append(r"\\")
+
+ if mimo:
+ out.append(r" \end{bmatrix}")
+
+ # See if this is a discrete time system with specific sampling time
+ if not (self.dt is None) and type(self.dt) != bool and self.dt > 0:
+ out += ["\quad dt = ", str(self.dt)]
+
+ out.append("$$")
+
+ return ''.join(out)
+
def __neg__(self):
"""Negate a transfer function."""
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