ctr_gram

controllability gramian

Calling Sequence

[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