Mercurial > hg > octave-lyh
annotate scripts/control/dgram.m @ 201:a5d54ad5cf9a
[project @ 1993-11-08 21:39:23 by jwe]
Initial revision
| author | jwe |
|---|---|
| date | Mon, 08 Nov 1993 21:39:23 +0000 |
| parents | |
| children | 16a24e76d6e0 |
| rev | line source |
|---|---|
| 201 | 1 function gramian = dgram (A, B) |
| 2 | |
| 3 # Usage: gramian = dgram (A, B) | |
| 4 # | |
| 5 # Returns the discrete controllability and observability gramian. | |
| 6 # | |
| 7 # dgram (A, B) returns the discrete controllability gramian. | |
| 8 # dgram (A', C') returns the observability gramian. | |
| 9 | |
| 10 # Written by R. Bruce Tenison (btenison@eng.auburn.edu) | |
| 11 # October 1993 | |
| 12 | |
| 13 [U, Sig, V] = svd (B); | |
| 14 | |
| 15 gramian = U * dlyap (U'*A*U, Sig*Sig') * U'; | |
| 16 | |
| 17 endfunction |