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ctr_gram

controllability gramian

Calling Sequence

[Gc]=ctr_gram(A,B [,dom])
[Gc]=ctr_gram(sl)

Arguments

A,B: two real matrices of appropriate dimensions
dom: character string ('c' (default value) or 'd')
sl: linear system, syslin list

Description

Controllability gramian of (A,B) or sl (a syslin linear system).

dom character string giving the time domain : "d" for a discrete time system and "c" for continuous time (default case).

Examples

A=diag([-1,-2,-3]);B=rand(3,2);
Wc=ctr_gram(A,B)
U=rand(3,3);A1=U*A/U;B1=U*B;
Wc1=ctr_gram(A1,B1)    //Not invariant!

See Also

equil1 — balancing (nonnegative) pair of matrices
obs_gram — observability gramian
contr — controllability, controllable subspace, staircase
cont_mat — controllability matrix
cont_frm — transfer to controllable state-space
contrss — controllable part

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