ctrbf
Function File: [sysbar, T, K] = ctrbf (sys)
Function File: [sysbar, T, K] = ctrbf (sys, tol)
Function File: [Abar, Bbar, Cbar, T, K] = ctrbf (A, B, C)
Function File: [Abar, Bbar, Cbar, T, K] = ctrbf (A, B, C, TOL)
If Co=ctrb(A,B) has rank r <= n = SIZE(A,1), then there is a similarity transformation Tc such that Tc = [t1 t2] where t1 is the controllable subspace and t2 is orthogonal to t1
Abar = Tc \ A * Tc , Bbar = Tc \ B , Cbar = C * Tc |
and the transformed system has the form
| Ac A12| | Bc |
Abar = |----------|, Bbar = | ---|, Cbar = [Cc | Cnc].
| 0 Anc| | 0 |
|
where (Ac,Bc) is controllable, and Cc(sI-Ac)^(-1)Bc = C(sI-A)^(-1)B. and the system is stabilizable if Anc has no eigenvalues in the right half plane. The last output K is a vector of length n containing the number of controllable states.
Source Code: ctrbf