## Copyright (C) 1997 Kai P. Mueller
##
## 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, 59 Temple Place, Suite 330, Boston, MA 02111 USA. 

## -*- texinfo -*-
##@deftypefn {Function File } { @var{Qb} =} obsv (@var{sys}@{, @var{c}@})
## Build observability matrix
## @example
## @group
##      | C        |
##      | CA       |
## Qb = | CA^2     |
##      | ...      |
##      | CA^(n-1) |
## @end group
## @end example
## of a system data structure or the pair (A, C).
## 
## Note: @code{obsv()} forms the observability matrix.
## 
##        The numerical properties of is_observable()
##        are much better for observability tests.
## @end deftypefn

function Qb = obsv(sys, c)

  ## Written by Kai P. Mueller November 4, 1997
  ## modified by

  if (nargin == 2)
    a = sys;
  elseif (nargin == 1 && is_struct(sys))
    sysupdate(sys,"ss");
    [a,b,c] = sys2ss(sys);
  else
    usage("obsv(sys [, c])")
  endif

  if (!is_abcd(a,c'))
    Qb = [];
  else
    ## no need to check dimensions, we trust is_abcd().
    [na, ma] = size(a);
    [nc, mc] = size(c);
    Qb = zeros(na*nc, ma);
    for i = 1:na
      Qb((i-1)*nc+1:i*nc, :) = c;
      c = c * a;
    endfor
  endif
endfunction