h_cl

h_cl — closed loop matrix

Calling sequence

[Acl]=h_cl(P,r,K)  
[Acl]=h_cl(P22,K)

`P, P22`	: linear system (`syslin` list), augmented plant or nominal plant respectively
`r`	: 1x2 row vector, dimensions of 2,2 part of `P` (`r=[rows,cols]=size(P22)`)
`K`	: linear system (`syslin` list), controller
`Acl`	: real square matrix

Given the standard plant P (with r=size(P22)) and the controller K, this function returns the closed loop matrix Acl.

The poles of Acl must be stable for the internal stability of the closed loop system.

Acl is the A-matrix of the linear system [I -P22;-K I]^-1 i.e. the A-matrix of lft(P,r,K)

F. D.