lin(1)

NAME
lin - linearization

CALLING SEQUENCE
[A,B,C,D]=lin(sim,x0,u0)
[sl]=lin(sim,x0,u0)

PARAMETERS

sim : function

x0, u0
    : vectors of compatible dimensions

A,B,C,D
    : real matrices

sl  : syslin list

DESCRIPTION
linearization of the non-linear system [y,xdot]=sim(x,u) around x0,u0.

sim is a function which computes y and xdot.

The output is a linear system (syslin list) sl or the four matrices (A,B,C,D)

EXAMPLE
Let ftz be the function passed to ode e.g.
[zd]=ftz(t,z,u)
and let us assume y=x.

[z]=ode(x0,t0,tf,list(ftz,u) compute x(tf).

Let simula be the following function:
deff('[y,xd]=simula(x,u)','xd=ftz(tf,x,u); y=x;');
The tangent linear system sl can be obtained by:
[A,B,C,D]=lin(simula,z,u)
sl = syslin('c',A,B,C,D,x0)

SEE ALSO
external, derivat