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# ccontrg

Central H-infinity continuous time controller

### Syntax

K = ccontrg(P, r, gamma)

### Arguments

- P
a continuous time linear dynamical system in state-space representation.

- r
a two elements vector with integer values: the dimension of the 2,2 part of

`P`

- gamma
real number

### Description

returns a realization `K`

of the central controller for the
general standard problem in state-space form.

Note that gamma must be > gopt (output of `gamitg` ) |

P contains the parameters of plant realization `(A,B,C,D)`

(`syslin`

list) with

B = ( B1 , B2 ) , C= ( C1 ) , D = ( D11 D12) ( C2 ) ( D21 D22)

`r(1)`

and `r(2)`

are the
dimensions of `D22`

(rows x columns)

### See also

### Authors

P. Gahinet (INRIA);

### History

Version | Description |

5.4.0 | `Sl` is now checked for continuous time linear dynamical system.
This modification has been introduced by this commit |

## Comments

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