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Ajuda do Scilab >> CACSD > stabil

# stabil

stabilization

### Calling Sequence

```F=stabil(A,B,alfa)
K=stabil(Sys,alfa,beta)```

### Arguments

A

square real matrix (`nx x nx`)

B

real matrix (`nx x nu`)

alfa, beta

real or complex vector (in conjugate pairs) or real number.

F

real matrix (`nx x nu`)

Sys

linear system (`syslin` list) (`m` inputs, `p` outputs).

K

linear system (`p` inputs, `m` outputs)

### Description

`F=stabil(A,B,alfa)` returns a gain matrix `F` such that `A+B*F` is stable if pair `(A,B)` is stabilizable. Assignable poles are set to `alfa(1),alfa(2),...`. If `(A,B)` is not stabilizable a warning is given and assignable poles are set to `alfa(1),alfa(2),...`. If `alfa` is a number all eigenvalues are set to this `alfa` (default value is `alfa=-1`).

`K=stabil(Sys,alfa,beta)` returns `K`, a compensator for `Sys` such that `(A,B)`-controllable eigenvalues are set to `alfa` and `(C,A)`-observable eigenvalues are set to `beta`.

All assignable closed loop poles (which are given by the eigenvalues of `Aclosed=h_cl(Sys,K)` are set to `alfa(i)`'s and `beta(j)`'s.

### Examples

```// Gain:
Sys=ssrand(0,2,5,list('st',2,3,3));
A=Sys('A');B=Sys('B');F=stabil(A,B);
spec(A) //2 controllable modes 2 unstable uncontrollable modes
//and one stable uncontrollable mode
spec(A+B*F) //the two controllable modes are set to -1.
// Compensator:
Sys=ssrand(3,2,5,list('st',2,3,3)); //3 outputs, 2 inputs, 5 states
//2 controllables modes, 3 controllable or stabilizable modes.
K=stabil(Sys,-2,-3);  //Compensator for Sys.
spec(Sys('A'))
spec(h_cl(Sys,K))   //K Stabilizes what can be stabilized.```