balreal - balanced realization
Balanced realization of linear system sl=[A,B,C,D]. sl can be a continuous-time or discrete-time state-space system. sl is assumed stable.
slb=[inv(U)*A*U ,inv(U)*B , C*U , D]
is the balanced realization.
slb is returned as a syslin list.
A=diag([-1,-2,-3,-4,-5]);B=rand(5,2);C=rand(1,5);
sl=syslin('c',A,B,C);
[slb,U]=balreal(sl);
Wc=clean(ctr_gram(slb))
W0=clean(obs_gram(slb))