diff --git a/control/canonical.py b/control/canonical.py
index c84ac1f8f..9c9a2a738 100644
--- a/control/canonical.py
+++ b/control/canonical.py
@@ -450,9 +450,7 @@ def bdschur(a, condmax=None, sort=None):
aschur, tschur, condmax)
if sort in ('continuous', 'discrete'):
-
idxs = np.cumsum(np.hstack([0, blksizes[:-1]]))
-
ev_per_blk = [complex(eigvals[i].real, abs(eigvals[i].imag))
for i in idxs]
@@ -470,7 +468,7 @@ def bdschur(a, condmax=None, sort=None):
permidx = np.hstack([blkidxs[i] for i in sortidx])
rperm = np.eye(amodal.shape[0])[permidx]
- tmodal = tmodal @ rperm
+ tmodal = tmodal @ rperm.T
amodal = rperm @ amodal @ rperm.T
blksizes = blksizes[sortidx]
diff --git a/control/tests/canonical_test.py b/control/tests/canonical_test.py
index f822955fc..ecdaa04cb 100644
--- a/control/tests/canonical_test.py
+++ b/control/tests/canonical_test.py
@@ -287,6 +287,8 @@ def test_bdschur_sort(eigvals, sorted_blk_eigvals, sort):
b, t, blksizes = bdschur(a, sort=sort)
assert len(blksizes) == len(sorted_blk_eigvals)
+ np.testing.assert_allclose(a, t @ b @ t.T)
+ np.testing.assert_allclose(t.T, np.linalg.inv(t))
blocks = extract_bdiag(b, blksizes)
for block, blk_eigval in zip(blocks, sorted_blk_eigvals):
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