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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="macglov">
    <refnamediv>
        <refname>macglov</refname>
        <refpurpose>Continuous time dynamical systems Mac Farlane Glover problem</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>[P, r] = macglov(Sl)</synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>Sl</term>
                <listitem>
                    <para>a continuous time linear dynamical system</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>P</term>
                <listitem>
                    <para>a continuous time linear dynamical system, the "augmented" plant</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>r</term>
                <listitem>
                    <para>
                        1x2 vector, dimension of <literal>P22</literal>
                    </para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            <literal>[P,r]=macglov(Sl)</literal> returns the standard plant
            <literal>P</literal> for the Glover-McFarlane problem.
        </para>
        <para>
            For this problem <literal>ro_optimal = 1-hankel_norm([N,M]</literal>)
            with <literal>[N,M]=lcf(sl)</literal> (Normalized coprime factorization) i.e.
        </para>
        <para>
            <literal>gama_optimal = 1/sqrt(ro_optimal)</literal>
        </para>
        <para>
            <literal>P</literal> is returned in the same
            representation (transfer function or state-space) than
            <literal>Sl</literal>.
        </para>
    </refsection>
    <refsection>
        <title>Examples</title>
        MAC-FARLANE PROBLEM for G=1/s^3;
        <programlisting role="example"><![CDATA[
    G=syslin("c",1/%s^3);
    [P,r]=macglov(G);

    //K Optimal controller , ro = gamaopt^-2;
    [K,ro]=h_inf(P,r,0,1,30);

    ]]></programlisting>
    </refsection>
    <refsection>
        <title>Authors</title>
        <para>F. Delebecque INRIA</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>
