1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
|
// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) INRIA -
//
// This file must be used under the terms of the CeCILL.
// This source file is licensed as described in the file COPYING, which
// you should have received as part of this distribution. The terms
// are also available at
// http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
function [n,nc,u,sl,v]=st_ility(sl,tol)
//stabilizability test
[lhs,rhs]=argn(0)
if type(sl)==1 then
//[n,nc,u,A,B]=st_ility(A,B,tol)
if rhs==2
sl=syslin('c',sl,tol,[]);rhs=1;
end
end
if typeof(sl)<>'state-space' then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear state space expected.\n"),"st_ility",1))
end
[a,b,c,d,x0,dom]=sl(2:7);
if dom==[] then
warning(msprintf(gettext("%s: Input argument %d is assumed continuous time.\n"),"st_ility",1));
dom='c';
end
typ='c';if dom<>'c' then typ='d',end
[na,na]=size(a);
[nw,nb]=size(b);
if nb==0 then
b=zeros(na,1);
end
// controllable part
if rhs==1 then
[n,u,ind,V,a,b]=contr(a,b);
else
[n,u,ind,V,a,b]=contr(a,b,tol);
end;
if nb==0 then
b=[];
end;
n=sum(n);nc=n;
if lhs==4 then c=c*u;x0=u'*x0;end
if n<>na then
//order evals uncont. part
nn=n+1:na;
[v,n1]=schur(a(nn,nn),part(typ,1))
n=n+n1
//new realization
if lhs>2 then
u(:,nn)=u(:,nn)*v
if lhs==4 then
a(:,nn)=a(:,nn)*v;a(nn,nn)=v'*a(nn,nn)
b(nn,:)=v'*b(nn,:)
c(:,nn)=c(:,nn)*v
x0(nn)=v'*x0(nn)
end;
end;
end;
//
if lhs==4 then sl=syslin(dom,a,b,c,d,x0),end
if lhs==5 then v=sl.B;sl=sl.A;end
endfunction
|
