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Text File  |  1993-03-11  |  493 b   |  16 lines
  1. function g = dgram(a,b)
  2. %DGRAM    Discrete controllability and observability gramians.
  3. %    DGRAM(A,B) returns the discrete controllability gramian.
  4. %    DGRAM(A',C') returns the observability gramian.
  5. %    See also GRAM.
  6.  
  7. %    J.N. Little 9-6-86
  8. %    Copyright (c) 1986-93 by the MathWorks, Inc.
  9.  
  10. %    Kailath, T. "Linear Systems", Prentice-Hall, 1980.
  11. %    Laub, A., "Computation of Balancing Transformations", Proc. JACC
  12. %      Vol.1, paper FA8-E, 1980.
  13.  
  14. [u,s,v] = svd(b);
  15. g = u*dlyap(u'*a*u,s*s')*u';
  16.