Scilab Function
Last update : 18/05/2014

ctr_gram - controllability gramian

Calling Sequence

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

Parameters

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