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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 K=lqg(P,r)
// returns the (strictly proper) lqg (H2) controller
// for the augmented plant P
if and(typeof(P)<>["rational","state-space"]) then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear state space or a transfer function expected.\n"),"lqg",1))
end
if typeof(r)<>"constant"|~isreal(r) then
error(msprintf(gettext("%s: Wrong type for argument #%d: Real vector expected.\n"),"lqg",2))
end
if size(r,"*")<>2 then
error(msprintf(gettext("%s: Wrong size for input argument #%d: %d expected.\n"),"lqg",2,2))
end
r=int(r);
if or(r<=0) then
error(msprintf(gettext("%s: Wrong values for input argument #%d: Elements must be positive.\n"),"lqg",2))
end
if typeof(P)=="rational" then
P=tf2ss(P),flag=%f
else
flag=%t
end
[A,B1,B2,C1,C2,D11,D12,D21,D22]=smga(P,r);
if norm(D11,1) <> 0 then
warning(msprintf(gettext("%s: %s is not zero! (set to zero)"),"lqg","D11"));
end
//if norm(D22,1) <> 0 then warning('lqg: D22 is not zero!');end
dom=P.dt;
if dom==[] then
warning(msprintf(gettext("%s: Input argument %d is assumed continuous time.\n"),"lqg",1));
dom="c";
end
P12=syslin(dom,A,B2,C1,D12);
Kc=lqr(P12);
P21=syslin(dom,A,B1,C2,D21);
Kf=lqe(P21);
P22=syslin(dom,A,B2,C2,D22);
K=obscont(P22,Kc,Kf);
if ~flag then K=ss2tf(K);end
endfunction
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