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.TH CONTR G "April 1993" "Scilab Group" "Scilab Function"
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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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: may be the constant rtol or the 2 vector \fV[rtol atol]\fR
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:tolerance used when evaluating ranks (QR factorizations).
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:absolute tolerance (the \fVB\fR matrix is assumed to be 0 if \fVnorm(B)<atol\fR)
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: dimension of controllable subspace.
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: orthogonal change of basis which puts \fV(A,B)\fR in canonical form.
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: block Hessenberg matrix
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: vector associated with controllability indices (dimensions of subspaces \fVB,
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B+A*B,...=ind(1),ind(1)+ind(2),...\fR)
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\fV[n,[U]]=contr(A,B,[tol])\fR gives the controllable form of an \fV(A,B)\fR
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pair.(\fVdx/dt = A x + B u\fR or \fVx(n+1) = A x(n) +b u(n)\fR).
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The \fVn\fR first columns of \fVU\fR make a basis for the controllable
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If \fVV=U(:,1:n)\fR, then \fVV'*A*V\fR and \fVV'*B\fR give the controllable part
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of the \fV(A,B)\fR pair.
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\fV[A1,B1,U,ind]=contr(A,B)\fR returns the Hessenberg controllable
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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