<?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="contrss">
    <refnamediv>
        <refname>contrss</refname>
        <refpurpose>controllable part</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>
            slc = contrss(sl)
            slc = contrss(sl, tol)
        </synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>sl</term>
                <listitem>
                    <para>
                        linear system (<literal>syslin</literal> list)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>tol</term>
                <listitem>
                    <para>
                        is a threshold for controllability (see <literal>contr</literal>).  default value is <literal>sqrt(%eps)</literal>.
                    </para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            returns the controllable part of the linear
            system <literal>sl = (A,B,C,D)</literal> in state-space form.
        </para>
    </refsection>
    <refsection>
        <title>Examples</title>
        <programlisting role="example"><![CDATA[
A=[1,1;0,2];B=[1;0];C=[1,1];sl=syslin('c',A,B,C);  //Non minimal
slc=contrss(sl);
sl1=ss2tf(sl);sl2=ss2tf(slc);      //Compare sl1 and sl2
 ]]></programlisting>
    </refsection>
    <refsection role="see also">
        <title>See also</title>
        <simplelist type="inline">
            <member>
                <link linkend="cont_mat">cont_mat</link>
            </member>
            <member>
                <link linkend="ctr_gram">ctr_gram</link>
            </member>
            <member>
                <link linkend="cont_frm">cont_frm</link>
            </member>
            <member>
                <link linkend="contr">contr</link>
            </member>
        </simplelist>
    </refsection>
</refentry>
