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Справка Scilab >> CACSD > Linear Analysis > Controllability Observability > ctr_gram

ctr_gram

controllability gramian

Syntax

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

Arguments

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 — balancing (nonnegative) pair of matrices
  • obs_gram — observability gramian
  • contr — controllability, controllable subspace, staircase
  • cont_mat — controllability matrix
  • cont_frm — transfer to controllable state-space
  • contrss — controllable part
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Last updated:
Tue Feb 14 15:13:23 CET 2017