<?xml version="1.0" encoding="UTF-8"?>
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 * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
 * Copyright (C) INRIA - P. Gahinet
 * Copyright (C) 2012 - 2016 - Scilab Enterprises
 *
 * This file is hereby licensed under the terms of the GNU GPL v2.0,
 * pursuant to article 5.3.4 of the CeCILL v.2.1.
 * This file was originally licensed under the terms of the CeCILL v2.1,
 * and continues to be available under such terms.
 * For more information, see the COPYING file which you should have received
 * along with this program.
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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="ccontrg">
    <refnamediv>
        <refname>ccontrg</refname>
        <refpurpose>Central H-infinity continuous time controller</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>K = ccontrg(P, r, gamma)</synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>P</term>
                <listitem>
                    <para> a continuous time linear dynamical system in state-space representation.</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>r</term>
                <listitem>
                    <para>
                        a two elements vector with integer values: the dimension of the 2,2 part of <literal>P</literal>
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>gamma</term>
                <listitem>
                    <para>real number</para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            returns a realization <literal>K</literal> of the central controller for the
            general standard problem in state-space form.
        </para>
        <para>
            <note>
                Note that gamma must be &gt; gopt (output of <literal>gamitg</literal>)
            </note>
        </para>
        <para>
            P contains the parameters of plant realization <literal>(A,B,C,D)</literal>
            (<literal>syslin</literal> list) with
        </para>
        <programlisting role=""><![CDATA[
B = ( B1 , B2 ) ,        C= ( C1 ) ,    D = ( D11  D12)
                            ( C2 )          ( D21  D22)
 ]]></programlisting>
        <para>
            <literal>r(1)</literal> and <literal>r(2)</literal> are the
            dimensions of <literal>D22</literal> (rows x columns)
        </para>
    </refsection>
    <refsection role="see also">
        <title>See also</title>
        <simplelist type="inline">
            <member>
                <link linkend="gamitg">gamitg</link>
            </member>
            <member>
                <link linkend="h_inf">h_inf</link>
            </member>
        </simplelist>
    </refsection>
    <refsection>
        <title>Authors</title>
        <para>P. Gahinet (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>
