<?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 - Serge STEER
 * 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="ctr_gram">
    <refnamediv>
        <refname>ctr_gram</refname>
        <refpurpose>controllability gramian</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>
            Gc = ctr_gram(sl)
            Gc = ctr_gram(A, B)
            Gc = ctr_gram(A, B, dom)
        </synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>A,B</term>
                <listitem>
                    <para>two real matrices of appropriate dimensions</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>dom</term>
                <listitem>
                    <para>
                        character string (<literal>'c'</literal> (default value) or <literal>'d'</literal>)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>sl</term>
                <listitem>
                    <para>
                        linear system, <literal>syslin</literal> list
                    </para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            Controllability gramian of <literal>(A,B)</literal> or <literal>sl</literal> (a <literal>syslin</literal>
            linear system).
        </para>
        <para>
            <literal>dom</literal> character string giving the time domain : <literal>"d"</literal> for a
            discrete time system and <literal>"c"</literal> for continuous time (default case).
        </para>
    </refsection>
    <refsection>
        <title>Examples</title>
        <programlisting role="example"><![CDATA[
A=diag([-1,-2,-3]);B=rand(3,2);
Wc=ctr_gram(A,B)
U=rand(3,3);A1=U*A/U;B1=U*B;
Wc1=ctr_gram(A1,B1)    //Not invariant!
 ]]></programlisting>
    </refsection>
    <refsection role="see also">
        <title>See also</title>
        <simplelist type="inline">
            <member>
                <link linkend="equil1">equil1</link>
            </member>
            <member>
                <link linkend="obs_gram">obs_gram</link>
            </member>
            <member>
                <link linkend="contr">contr</link>
            </member>
            <member>
                <link linkend="cont_mat">cont_mat</link>
            </member>
            <member>
                <link linkend="cont_frm">cont_frm</link>
            </member>
            <member>
                <link linkend="contrss">contrss</link>
            </member>
        </simplelist>
    </refsection>
</refentry>
