Name

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

Authors

S. Steer INRIA 1988