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.TH fstabst 1 "April 1993" "Scilab Group" "Scilab Function"
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fstabst - Youla's parametrization
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: \fVsyslin\fR list (linear system)
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: 1x2 row vector, dimension of \fVP22\fR
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: \fVsyslin\fR list (linear system in state-space representation)
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Parameterization of all stabilizing feedbacks.
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\fVP\fR is partitioned as follows:
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(in state-space or transfer form: automatic conversion in state-space is
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done for the computations)
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\fVr\fR = size of \fVP22\fR subsystem, (2,2) block of \fVP\fR
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\fVK\fR is a stabilizing controller for \fVP\fR (i.e. \fVP22\fR) iff
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\fVK=lft(J,r,Q)\fR with \fVQ\fR stable.
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The central part of \fVJ\fR , \fVJ11\fR is the lqg regulator for \fVP\fR
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This \fVJ\fR is such that defining \fVT\fR as the 2-port \fVlft\fR of \fVP\fR
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and \fVJ\fR : \fV[T,rt]=lft(P,r,J,r)\fR one has that \fVT12\fR is inner
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and \fVT21\fR is co-inner.
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bigQ=rand(nx+nu,nx+nu);bigQ=bigQ*bigQ';
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bigR=rand(nx+ny,nx+ny);bigR=bigR*bigR';
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[P,r]=lqg2stan(P22,bigQ,bigR);
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Q=ssrand(nu,ny,1);Q('A')=-1; //Stable Q
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A=h_cl(P,r,K); spec(A)
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obscont, lft, lqg, lqg2stan