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obs_gram

observability gramian

Syntax

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

Arguments

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


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