<< slicot_ab07nd Subroutine Library In COntrol Theory slicot_ag08bd >>

slicot_ab08nd

Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system.

Syntax

[NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR, KRONL, AF, BF, INFO] = slicot_ab08nd(EQUIL, N, M, P, A, B, C, D, TOL)

Input argument

EQUIL

'S': Perform balancing (scaling) or 'N': Do not perform balancing.

N

The number of state variables, i.e., the order of the matrix A.

M

The number of system inputs.

P

The number of system outputs.

A

The leading N-by-N part of this array must contain the state dynamics matrix A of the system.

B

The leading N-by-M part of this array must contain the input/state matrix B of the system.

C

The leading P-by-N part of this array must contain the state/output matrix C of the system.

D

The leading P-by-M part of this array must contain the direct transmission matrix D of the system.

TOL

A tolerance used in rank decisions.

Output argument

NU

The number of (finite) invariant zeros.

RANK

The normal rank of the transfer function matrix.

DINFZ

The maximum degree of infinite elementary divisors.

NKROR

The number of right Kronecker indices.

NKROL

The number of left Kronecker indices.

INFZ

The leading DINFZ elements of INFZ contain information on the infinite elementary divisors as follows: the system has INFZ(i) infinite elementary divisors of degree i, where i = 1,2,...,DINFZ.

KRONR

The leading NKROR elements of this array contain the right Kronecker (column) indices.

KRONL

The leading NKROL elements of this array contain the left Kronecker (row) indices.

AF

The leading NU-by-NU part of this array contains the coefficient matrix A of the reduced pencil.

BF

The leading NU-by-NU part of this array contains the coefficient matrix B of the reduced pencil.

INFO

0: successful exit; if INFO = -i, the i-th argument had an illegal value.

Description

To construct for a linear multivariable system described by a state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which has the invariant zeros of the system as generalized eigenvalues.

The routine also computes the orders of the infinite zeros and the right and left Kronecker indices of the system (A,B,C,D).

Used function(s)

AB08ND

Bibliography

http://slicot.org/objects/software/shared/doc/AB08ND.html

Example

N = 6;
M = 2;
P = 3;
TOL = 0.0;
EQUIL = 'N';
%=============================================================================
A  = [1.0   0.0   0.0   0.0   0.0   0.0;
   0.0   1.0   0.0   0.0   0.0   0.0;
   0.0   0.0   3.0   0.0   0.0   0.0;
   0.0   0.0   0.0  -4.0   0.0   0.0;
   0.0   0.0   0.0   0.0  -1.0   0.0;
   0.0   0.0   0.0   0.0   0.0   3.0];
%=============================================================================
B = [0.0  -1.0;
  -1.0   0.0;
   1.0  -1.0;
   0.0   0.0;
   0.0   1.0;
  -1.0  -1.0];
%=============================================================================
C = [1.0   0.0   0.0   1.0   0.0   0.0;
   0.0   1.0   0.0   1.0   0.0   1.0;
   0.0   0.0   1.0   0.0   0.0   1.0];
D = [0.0   0.0;
   0.0   0.0;
   0.0   0.0];
%=============================================================================
% Check the observability and compute the ordered set of the observability indices (call the routine with M = 0).
[NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR, KRONL, AF, BF, INFO] = slicot_ab08nd(EQUIL, N, 0, P, A, B, C, D, TOL)

% Check the controllability and compute the ordered set of the controllability indices (call the routine with P = 0)
[NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR, KRONL, AF, BF, INFO] = slicot_ab08nd(EQUIL, N, M, 0, A, B, C, D, TOL)

% Compute the structural invariants of the given system.
[NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR, KRONL, AF, BF, INFO] = slicot_ab08nd(EQUIL, N, M, P, A, B, C, D, TOL)

History

Version Description
1.0.0 initial version

Author

SLICOT Documentation

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