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+# Copyright (C) 1996 A. Scottedward Hodel 
+#
+# This file is part of Octave. 
+#
+# Octave is free software; you can redistribute it and/or modify it 
+# under the terms of the GNU General Public License as published by the 
+# Free Software Foundation; either version 2, or (at your option) any 
+# later version. 
+# 
+# Octave is distributed in the hope that it will be useful, but WITHOUT 
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
+# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License 
+# for more details.
+# 
+# You should have received a copy of the GNU General Public License 
+# along with Octave; see the file COPYING.  If not, write to the Free 
+# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. 
+
+function m = gram(a,b)
+  # m = gram(a,b)
+  # Return controllability grammian of continuous time system
+  #
+  #  dx/dt = a x + b u
+  #
+  # a m + a' + b*b' = 0 
+
+  # Written by A. S. Hodel 
+  # $Revision: 1.2 $
+
+  # let lyap do the error checking...
+  m = lyap(a,b*b');
+endfunction