.Modelica_LinearSystems2.ZerosAndPoles.Analysis.controllabilityMatrix

Information

Syntax

Q = ZerosAndPoles.Analysis.controllabilityMatrix(zp, method)

Description

This function calculates the controllability matrix

Q = [B, A*B, ..., A^(n-1)*B]

of the system corresponding to state space system

der(x) = A*x + B*u;
    y  = C*x + D*u;

of a zeros and poles transfer function.

Example

  ZerosAndPoles p = Modelica_LinearSystems2.ZerosAndPoles.p();
  Modelica_LinearSystems2.ZerosAndPoles zp=(p+1)/(p^2+p+1);

  Real Q[2,2];

algorithm
  Q := Modelica_LinearSystems2.ZerosAndPoles.Analysis.controllabilityMatrix(zp);
// Q = [0, 1, 1, -1]

Interface

encapsulated function controllabilityMatrix
  import Modelica_LinearSystems2.StateSpace;
  import Modelica_LinearSystems2.ZerosAndPoles;
  input ZerosAndPoles zp "ZerosAndPoles transfer function of a system";
  output Real om[:, :];
end controllabilityMatrix;