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<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink"
          xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML"
          xmlns:db="http://docbook.org/ns/docbook" xmlns:scilab="http://www.scilab.org"
          xml:lang="en" xml:id="gamitg">
    <refnamediv>
        <refname>gamitg</refname>
        <refpurpose>H-infinity gamma iterations for continuous time systems</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>
            gopt = gamitg(G, r, prec)
            gopt = gamitg(G, r, prec, options)
        </synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>G</term>
                <listitem>
                    <para>a continuous time dynamical system (plant realization).</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>r</term>
                <listitem>
                    <para>
                        1x2 row vector (dimension of <literal>G22</literal>)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>prec</term>
                <listitem>
                    <para>desired relative accuracy on the norm</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>option</term>
                <listitem>
                    <para>
                        string <literal>'t'</literal>
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>gopt</term>
                <listitem>
                    <para>real scalar, optimal H-infinity gain</para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            <literal>gopt=gamitg(G,r,prec [,options])</literal>
            returns the H-infinity optimal gain <literal>gopt</literal>.
        </para>
        <para>
            <literal>G</literal> contains the state-space matrices <literal>[A,B,C,D]</literal> of
            the plant with the usual partitions:
        </para>
        <programlisting role=""><![CDATA[
B = ( B1 , B2 ) ,    C = ( C1 ) ,    D = ( D11  D12)
                         ( C2 )          ( D21  D22)
 ]]></programlisting>
        <para>
            These partitions are implicitly given in <literal>r</literal>: <literal>r(1)</literal>
            and <literal>r(2)</literal> are the dimensions of <literal>D22</literal> (rows x columns)
        </para>
        <para>
            With <literal>option='t'</literal>, <literal>gamitg</literal> traces each bisection step, i.e.,
            displays the lower and upper bounds and the current test point.
        </para>
    </refsection>
    <refsection role="see also">
        <title>See also</title>
        <simplelist type="inline">
            <member>
                <link linkend="ccontrg">ccontrg</link>
            </member>
            <member>
                <link linkend="h_inf">h_inf</link>
            </member>
        </simplelist>
    </refsection>
    <refsection>
        <title>Authors</title>
        <para>P. Gahinet</para>
    </refsection>
    <refsection>
        <title>History</title>
        <revhistory>
            <revision>
                <revnumber>5.4.0</revnumber>
                <revremark>
                    <literal>Sl</literal> is now checked for
                    continuous time linear dynamical system.  This modification
                    has been introduced by this <ulink url="http://gitweb.scilab.org/?p=scilab.git;a=commit;h=3d7083daae3339813ba747c8adcda1f9599bb80d">commit</ulink>
                </revremark>
            </revision>
        </revhistory>
    </refsection>
</refentry>
