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// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) INRIA - F. Delebecque
//
// 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 [N,M]=lcf(Sl)
//Compute Normalized coprime factorization of a linear dynamic system
//%Syntax and parameters description
// [N,M]=lcf(Sl)
//
// SL : linear dynamic system given in state space or transfer function.
// see syslin
// N,M : is realization of Sl: Sl = M^-1 N
//!
if and(typeof(Sl)<>["rational","state-space"]) then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear state space or a transfer function expected.\n"),"lcf",1))
end
if Sl.dt<>"c" then
error(msprintf(gettext("%s: Wrong type for argument #%d: In continuous time expected.\n"),"lcf",1))
end
flag=0;
if typeof(Sl)=="rational" then Sl=tf2ss(Sl),flag=1;end
[A,B,C,D]=Sl(2:5);[nw,nb]=size(B);[nc,nw]=size(C);
R=eye()+D*D';
[Z,H]=gfare(Sl);
Ar=A+H*C;
Bn=B+H*D;Bm=H;
Rm12=inv(sqrtm(R));
Cr=Rm12*C;Dn=Rm12*D;Dm=Rm12;
N=syslin("c",Ar,Bn,Cr,Dn);
M=syslin("c",Ar,Bm,Cr,Dm);
if flag==1 then N=ss2tf(N);M=ss2tf(M);end
endfunction
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