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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 [gm]=fspecg(g)
// gm=fspecg(g) : stable factorization.
// g and gm are continuous-time linear systems in state-space form.
// gtild(g)*g = gtild(gm)*gm
//with gm stable.
// Imaginary-axis poles are forbidden.
//
//!
if typeof(g)<>"state-space" then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear system expected.\n"),"fspecg",1))
end
if g.dt<>"c" then
error(msprintf(gettext("%s: Wrong type for argument #%d: In continuous time expected.\n"),"fspecg",1))
end
[a,b,c,d]=abcd(g),
g=[];
a=-a;
b=-b;
h=[-a',c'*c;
0*eye(a),a];
x=ric_desc(h);h=[]
gm=syslin("c",-a'+c'*c*x,-c',b'-d'*c*x,d')';
endfunction
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