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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 Slmin=minss(Sl,tol)
[lhs,rhs]=argn(0)
if typeof(Sl)<>"state-space" then
error(msprintf(gettext("%s: Wrong type for input argument #%d: State-space form expected.\n"),"minss",1));
end
[a,b,c,d,x0,dom]=Sl(2:7)
//observability
if rhs<2 then tol=1.d-10*norm([a;c],1),end
[nc,u1]=contr(a',c',tol)
u=u1(:,1:nc)
c=c*u;a=u'*a*u;b=u'*b,x0=u'*x0;
//controllability
if rhs<2 then tol=1.d-10*norm([a,b],1),end
[no,u2]=contr(a,b,tol)
u=u2(:,1:no)
a=u'*a*u;b=u'*b;c=c*u
//form the result
Slmin=syslin(dom,a,b,c,d,u'*x0)
//Would be nice to return U=U1*U2
endfunction
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