ctr_gram(1)

NAME
ctr_gram - controllability gramian

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

PARAMETERS

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).

                  /+inf                             ---+inf
                  [  At  ' A't                         k      k
             Gc = | e  BB e   dt               Gc =  > A BB' A'
                  ]                                 /
                 /0                                 ---0

SEE ALSO
 cont_mat, cont_frm, contrss

AUTHOR
S. Steer INRIA 1988