<?xml version="1.0" encoding="UTF-8"?>
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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="colregul">
    <refnamediv>
        <refname>colregul</refname>
        <refpurpose>removing poles and zeros at infinity</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>[Stmp, Ws] = colregul(Sl, alfa, beta)</synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>Sl,Stmp</term>
                <listitem>
                    <para>
                        <literal>syslin</literal> lists
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>alfa,beta</term>
                <listitem>
                    <para>reals (new pole and zero positions)</para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            computes a prefilter <literal>Ws</literal> such that <literal>Stmp=Sl*Ws</literal> is proper and
            with full rank <literal>D</literal> matrix.
        </para>
        <para>
            Poles at infinity of <literal>Sl</literal> are moved to <literal>alfa</literal>;
        </para>
        <para>
            Zeros at infinity of <literal>Sl</literal> are moved to <literal>beta</literal>;
        </para>
        <para>
            <literal>Sl</literal> is assumed to be a left invertible linear system (<literal>syslin</literal> list)
            in state-space representation with possibly a polynomial <literal>D</literal> matrix.
        </para>
    </refsection>
    <refsection role="see also">
        <title>See also</title>
        <simplelist type="inline">
            <member>
                <link linkend="invsyslin">invsyslin</link>
            </member>
            <member>
                <link linkend="inv">inv</link>
            </member>
            <member>
                <link linkend="rowregul">rowregul</link>
            </member>
            <member>
                <link linkend="rowshuff">rowshuff</link>
            </member>
        </simplelist>
    </refsection>
</refentry>
