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<?xml version="1.0" encoding="UTF-8"?>
<!--
* Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
* Copyright (C) INRIA - P. Gahinet
*
* This file must be used under the terms of the CeCILL.
* This source file is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at
* http://www.cecill.info/licences/Licence_CeCILL_V2.1-en.txt
*
-->
<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" xmlns:scilab="http://www.scilab.org" xml:lang="en" xml:id="ccontrg">
<refnamediv>
<refname>ccontrg</refname>
<refpurpose>Central H-infinity continuous time controller</refpurpose>
</refnamediv>
<refsynopsisdiv>
<title>Calling Sequence</title>
<synopsis>[K]=ccontrg(P,r,gamma);</synopsis>
</refsynopsisdiv>
<refsection>
<title>Arguments</title>
<variablelist>
<varlistentry>
<term>P</term>
<listitem>
<para> a continuous time linear dynamical system in state-space representation.</para>
</listitem>
</varlistentry>
<varlistentry>
<term>r</term>
<listitem>
<para>
a two elements vector with integer values: the dimension of the 2,2 part of <literal>P</literal>
</para>
</listitem>
</varlistentry>
<varlistentry>
<term>gamma</term>
<listitem>
<para>real number</para>
</listitem>
</varlistentry>
</variablelist>
</refsection>
<refsection>
<title>Description</title>
<para>
returns a realization <literal>K</literal> of the central controller for the
general standard problem in state-space form.
</para>
<para>
<note>
Note that gamma must be > gopt (output of <literal>gamitg</literal>)
</note>
</para>
<para>
P contains the parameters of plant realization <literal>(A,B,C,D)</literal>
(<literal>syslin</literal> list) with
</para>
<programlisting role=""><![CDATA[
B = ( B1 , B2 ) , C= ( C1 ) , D = ( D11 D12)
( C2 ) ( D21 D22)
]]></programlisting>
<para>
<literal>r(1)</literal> and <literal>r(2)</literal> are the
dimensions of <literal>D22</literal> (rows x columns)
</para>
</refsection>
<refsection role="see also">
<title>See Also</title>
<simplelist type="inline">
<member>
<link linkend="gamitg">gamitg</link>
</member>
<member>
<link linkend="h_inf">h_inf</link>
</member>
</simplelist>
</refsection>
<refsection>
<title>Authors</title>
<para>P. Gahinet (INRIA); </para>
</refsection>
<refsection>
<title>History</title>
<revhistory>
<revision>
<revnumber>5.4.0</revnumber>
<revremark>
<literal>Sl</literal> is now checked for continuous time linear dynamical system.
This modification has been introduced by this <ulink url="http://gitweb.scilab.org/?p=scilab.git;a=commit;h=3d7083daae3339813ba747c8adcda1f9599bb80d">commit</ulink>
</revremark>
</revision>
</revhistory>
</refsection>
</refentry>
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