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CONTR Scilab Group Scilab Function CONTR
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contr - controllability, controllable subspace
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[n [,U]]=contr(A,B [,tol])
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[A1,B1,U,ind]=contr(A,B [,tol])
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tol : may be the constant rtol or the 2 vector [rtol atol]
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rtol :tolerance used when evaluating ranks (QR factorizations).
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atol :absolute tolerance (the B matrix is assumed to be 0 if
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n : dimension of controllable subspace.
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U : orthogonal change of basis which puts (A,B) in canonical form.
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A1 : block Hessenberg matrix
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ind : vector associated with controllability indices (dimensions of
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subspaces B, B+A*B,...=ind(1),ind(1)+ind(2),...)
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[n,[U]]=contr(A,B,[tol]) gives the controllable form of an (A,B)
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pair.(dx/dt = A x + B u or x(n+1) = A x(n) +b u(n)). The n first columns
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of U make a basis for the controllable subspace.
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If V=U(:,1:n), then V'*A*V and V'*B give the controllable part of the
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[A1,B1,U,ind]=contr(A,B) returns the Hessenberg controllable form of
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W=ssrand(2,3,5,list('co',3)); //cont. subspace has dim 3.
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spec(A1(n+1:$,n+1:$)) //uncontrollable modes
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canon, cont_mat, unobs, stabil