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1 ## Copyright (C) 1996 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File } { @var{m} =} gram (@var{a}, @var{b}) |
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21 ## Return controllability grammian @var{m} of the continuous time system |
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22 ## @math{ dx/dt = a x + b u}. |
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23 ## |
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24 ## @var{m} satisfies @math{ a m + m a' + b b' = 0 }. |
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25 ## @end deftypefn |
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26 |
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27 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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28 |
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29 function m = gram (a, b) |
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30 |
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31 ## let lyap do the error checking... |
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32 m = lyap(a,b*b'); |
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33 |
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34 endfunction |
