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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 Sli=invrs(Sl,alfa);
// Sli=invrs(Sl,alfa) computes Sli, the PSSD
// inverse of PSSD Sl.
//!
if typeof(Sl)<>"state-space" then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear state space expected.\n"),"invrs",1))
end
D=Sl.D;
if type(D)==2 then
s=poly(0,varn(D));
Sl.D=horner(Sl.D,s+alfa);
end
Sl.A=Sl.A-alfa*eye(Sl.A); //Slnew(s)=Slold(s+alfa)
[Sreg,Wss]=rowregul(Sl,0,0);
if rcond(Sreg.D) >1.d-6 then
Sli=invsyslin(Sreg)*Wss;
else
error(msprintf(gettext("%s: Square but singular system.\n"),"invrs"));
end
[Q,M]=pbig(Sli.A,0.001,"d");
Sli=projsl(Sli,Q,M);//Remove poles at zero.
if Sli.A~=[] then Sli.A=Sli.A+alfa*eye();end
if type(Sli.D)==2 then
Sli.D=horner(Sli.D,s-alfa);
end
endfunction
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