h_cl¶

closed loop matrix

Calling Sequence¶

[Acl]=h_cl(P,r,K)
[Acl]=h_cl(P22,K)

P, P22 continuous time linear dynamical systems:
	augmented plant or nominal plant respectively

: :r a two elements vector, dimensions of 2,2 part of P (: r=[rows,cols]=size(P22))

: :K a continuous time linear dynamical system: the controller : :Acl real square matrix :

Given the standard plant P (with r=size(P22)) and the controller K, this function returns the closed loop matrix Acl.

The poles of Acl must be stable for the internal stability of the closed loop system.

Acl is the A-matrix of the linear system [I -P22;-K I]^-1 i.e. the A-matrix of lft(P,r,K)

Version Description 5.4.0 Sl is now checked for continuous time linear dynamical system. This modification has been introduced by this `commit`_ .. _commit: http://gitweb.scilab.org/?p=scilab.git;a=commit;h=3d7083daae3339813ba747c8adcda1f9599bb80d .. _lft: lft.html