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// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) INRIA -
//
// 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
function [Stmp,Ws]=colregul(Sl,Alfa,Beta);
// [Stmp,Ws]=regul(Sl) computes a polynomial-state-space prefilter
// Ws such that Stmp=Sl*Ws is proper and non singular.
// Poles at infinity of Sl are moved to Alfa;
// Zeros at infinity of Sl are moved to Beta;
// Sl is asummed left invertible i.e. ss2tf(Sl) full column rank
//!
[LHS,RHS]=argn(0);
if RHS==1 then Alfa=0;Beta=0;end
flag=0;
Sl1=Sl(1)
if Sl1(1)=="r" then
flag=1;Sl=tf2ss(Sl);
end
s=poly(0,"s");
D=Sl(5);
n=size(D);n1=n(1);n2=n(2);
Ws=syslin([],[],[],[],eye(n2,n2));
Stmp=Sl;
m=max(degree(D));
// moving poles @ infinity to poles @ Alfa
while m>0
Dm=coeff(D,m);
[W,r]=colcomp(Dm);
if r==0 then Wstmp=W; else
dim=n2-r;Wstmp=W*[eye(dim,dim),zeros(dim,r);
zeros(r,dim),tf2ss(1/(s-Alfa)*eye(r,r))];end
Ws=Ws*Wstmp;
Stmp=Stmp*Wstmp;
D=clean(Stmp(5));
m=max(degree(D));
end
Stmp(5)=coeff(Stmp(5),0);
[W,r]=colcomp(Stmp(5));
if r==n1 then
Ws=Ws*W;Stmp=Stmp*W;
if flag==1 then Ws=ss2tf(Ws);Stmp=ss2tf(Stmp);end
return;
end
[nx,nx]=size(Stmp(2));
// moving zeros @ infinity to zeros @ Beta
i=0;
while r < n2,
i=i+1;
if r==n2 then Wstmp=W;
else
dim=n2-r;Wstmp=W*[(s-Beta)*eye(dim,dim),zeros(dim,r);
zeros(r,dim),eye(r,r)];
end
Wstmp=syslin([],[],[],[],Wstmp);
Ws=Ws*Wstmp;
Stmp=Stmp*Wstmp;
Stmp(5)=coeff(Stmp(5),0);
rold=r;
[W,r]=colcomp(Stmp(5));
// if r==rold&r<>0 then break;end
if i>=nx then break;end
end
if flag==1 then
Ws=ss2tf(Ws);Stmp=ss2tf(Stmp);end
endfunction
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