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h_cl             Scilab Group             Scilab Function              h_cl
NAME
   h_cl - closed loop matrix
  
CALLING SEQUENCE
 [Acl]=h_cl(P,r,K)
 [Acl]=h_cl(P22,K)
PARAMETERS
 P, P22   : linear system (syslin list), augmented plant or nominal plant
          respectively
          
 r        : 1x2 row vector, dimensions of 2,2 part of P
          (r=[rows,cols]=size(P22))
          
 K        : linear system (syslin list), controller
          
 Acl      : real square matrix
          
DESCRIPTION
   Given the standard plant P (with r=size(P22)) and the controller K, this
  function returns the closed loop matrix Acl.
  
   The poles of Acl must be stable for the internal stability  of the closed
  loop system.
  
   Acl is the A-matrix of the linear system [I -P22;-K I]^-1 i.e. the
  A-matrix of lft(P,r,K)
  
SEE ALSO
   lft
  
AUTHOR
   F. D.