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1 ## Copyright (C) 1996 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File} {} dgram (@var{a}, @var{b}) |
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21 ## Return controllability grammian of discrete time system |
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22 ## @example |
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23 ## x(k+1) = a x(k) + b u(k) |
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24 ## @end example |
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25 ## |
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26 ## @strong{Inputs} |
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27 ## @table @var |
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28 ## @item a |
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29 ## @var{n} by @var{n} matrix |
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30 ## @item b |
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31 ## @var{n} by @var{m} matrix |
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32 ## @end table |
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33 ## |
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34 ## @strong{Outputs} |
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35 ## @var{m} (@var{n} by @var{n}) satisfies |
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36 ## @example |
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37 ## a m a' - m + b*b' = 0 |
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38 ## @end example |
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39 ## @end deftypefn |
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40 |
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41 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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42 ## Created: July 1995 |
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43 |
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44 function m = dgram (a, b) |
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45 |
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46 ## let dlyap do the error checking... |
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47 m = dlyap(a,b*b'); |
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48 |
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49 endfunction |
