Name

obs_gram — observability gramian

Calling Sequence

Go=obs_gram(A,C [,dom])
Go=obs_gram(sl)

Parameters

A,C

real matrices (of appropriate dimensions)

dom

string ("d' or "c" (default value))

sl

syslin list

Description

Observability gramian of the pair (A,C) or linear system sl (syslin list). dom is the domain which can be

"c"

continuous system (default)

"d"

discrete system

Examples

 
A=-diag(1:3);C=rand(2,3);
Go=obs_gram(A,C,'c');     // <=> w=syslin('c',A,[],C); Go=obs_gram(w);
norm(Go*A+A'*Go+C'*C,1)
norm(lyap(A,-C'*C,'c')-Go,1)
A=A/4; Go=obs_gram(A,C,'d');    //discrete time case
norm(lyap(A,-C'*C,'d')-Go,1)

See Also

ctr_gram , obsvss , obsv_mat , lyap