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// 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 [S,Series]=sysfact(Sys,Gain,flag)
//For Sys=[A,B,C,D],
//if flag=='post' returns S = [A+B*Gain, B , Gain, I]
// and Series = minss(Sys*S)
//if flag=='pre' returns S=[A+Gain*C, Gain , C, I]
// and Series = minss(S*Sys)
if flag=='post' then
S=syslin(Sys('dt'),Sys('A')+Sys('B')*Gain, Sys('B'), Gain, eye(Gain*Sys('B')));
//Series=minss(Sys*S);
Series= syslin('c',Sys('A')+Sys('B')*Gain, Sys('B'), Sys('C')+Sys('D')*Gain, Sys('D'));
end
if flag=='pre' then
S=syslin(Sys('dt'),Sys('A')+Gain*Sys('C'), Gain, Sys('C'), eye(Sys('C')*Gain));
//Series=minss(S*Sys);
Series=syslin('c',Sys('A')+Gain*Sys('C'), Sys('B')+Gain*Sys('D'), Sys('C'), Sys('D'));
end
//Example:
//Sys=ssrand(3,2,4);Sys('D')=rand(3,2);
//S=sysfact(Sys,lqr(Sys),'post');
//ww=minss(Sys*S);
//ss2tf(gtild(ww)*ww),Sys('D')'*Sys('D')
//Syst=Sys';
//S1=sysfact(Syst,lqe(Syst),'pre');
//ww=minss(S1*Syst);
//ss2tf(ww*gtild(ww)),Syst('D')*Syst('D')'
//Sys=ssrand(2,3,4);
//[X,d,F,U,k,Z]=abinv(Sys);
//ss2tf(Sys*Z)
//ss2tf(Sys*sysfact(Sys,F,'post')*U)
endfunction
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