ccontrg

ccontrg — central H-infinity controller

Calling sequence

[K]=ccontrg(P,r,gamma);

`P`	: `syslin` list (linear system in state-space representation)
`r`	: 1x2 row vector, dimension of the 2,2 part of `P`
`gamma`	: real number

returns a realization K of the central controller for the general standard problem in state-space form.

Note that gamma must be > gopt (ouput of gamitg)

P contains the parameters of plant realization (A,B,C,D) (syslin list) with



B = ( B1 , B2 ) ,        C= ( C1 ) ,    D = ( D11  D12)
                            ( C2 )          ( D21  D22)

r(1) and r(2) are the dimensions of D22 (rows x columns)

P. Gahinet (INRIA);