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.TH h_cl 5 "April 1993" "Scilab Group" "Scilab Function"
.so ../sci.an
.SH NAME
h_cl - closed loop matrix
.SH CALLING SEQUENCE
.nf
[Acl]=h_cl(P,r,K)
[Acl]=h_cl(P22,K)
.fi
.SH PARAMETERS
.TP 8
P, P22
: linear system (\fVsyslin\fR list), augmented plant or nominal plant respectively
.TP
r
: 1x2 row vector, dimensions of 2,2 part of \fVP\fR (\fVr=[rows,cols]=size(P22)\fR)
.TP
K
: linear system (\fVsyslin\fR list), controller
.TP
Acl
: real square matrix
.SH DESCRIPTION
Given the standard plant \fVP\fR (with \fVr=size(P22)\fR) and the controller
\fVK\fR, this function returns the closed loop matrix \fVAcl\fR.
.LP
The poles of \fVAcl\fR must be stable for the internal stability
of the closed loop system.
.LP
\fVAcl\fR is the \fVA\fR-matrix of the linear system \fV[I -P22;-K I]^-1\fR i.e.
the \fVA\fR-matrix of \fVlft(P,r,K)\fR
.SH SEE ALSO
lft
.SH AUTHOR
F. D.
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