ctr_gram - controllability gramian

Calling Sequence

[Gc]=ctr_gram(A,B [,dom])

[Gc]=ctr_gram(sl)

Parameters

• A,B : two real matrices of appropriate dimensions
• dom : character string ('c' (default value) or 'd')
• sl : linear system, syslin list

Description

Controllability gramian of (A,B) or sl (a syslin linear system).

dom character string giving the time domain : "d" for a discrete time system and "c" for continuous time (default case).

Examples

A=diag([-1,-2,-3]);B=rand(3,2);
Wc=ctr_gram(A,B)
U=rand(3,3);A1=U*A/U;B1=U*B;
Wc1=ctr_gram(A1,B1)    //Not invariant!
 

See Also

equil1  obs_gram  contr  cont_mat  cont_frm  contrss  

Author

S. Steer INRIA 1988