augment(5)

NAME
augment - augmented plant

CALLING SEQUENCE
[P,r]=augment(G,[flag])

PARAMETERS

G   : linear system (syslin list), the nominal plant

flag
    : one of the following (upper case) character string: 'S' , 'R' , 'T' 'SR' , 'ST' , 'RT' 'SRT'

P   : linear system (syslin list), the ``augmented'' plant

r   : 1x2 row vector, dimension of P22 = G

DESCRIPTION
If flag='SRT' (default value), returns the "full" augmented plant
    [ I | -G]   -->'S'
    [ 0 |  I]   -->'R'
P = [ 0 |  G]   -->'T'
    [-------]
    [ I | -G]

'S' , 'R' , 'T' refer to the first three (block) rows of P respectively.

If one of these letters is absent in flag, the corresponding row in P is missing.

Note that weighting functions can be introduced by left-multipying P by a diagonal system of appropriate dimension, e.g., P = sysdiag(W1,W2,W3,eye(G))*P.

Sensitivity functions can be calculated by lft.

SEE ALSO
lft, sensi