ctr_gram

ctr_gram — controllability gramian

Calling sequence

[Gc]=ctr_gram(A,B [,dom])  
[Gc]=ctr_gram(sl)

`A,B`	: two real matrices of appropriate dimensions
`dom`	: character string (`'c'` (default value) or `'d'`)
`sl`	: linear system, `syslin` list

Controllability gramian of (A,B) or sl (a syslin linear system).

dom character string giving the time domain : "d" for a discrete time system and "c" for continuous time (default case).



A=diag([-1,-2,-3]);B=rand(3,2);
Wc=ctr_gram(A,B)
U=rand(3,3);A1=U*A/U;B1=U*B;
Wc1=ctr_gram(A1,B1)    //Not invariant!

S. Steer INRIA 1988