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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 [SS]=%lss_m_lss(S1,S2)
//S=%lss_m_lss(S1,S2) computes S1*S2 in state-space form.
// --> S2 --> S1 -->
//!
[S1,S2]=sysconv(S1,S2)
[A1,B1,C1,D1,x1,dom1]=S1(2:7),
[A2,B2,C2,D2,x2]=S2(2:6),
//
if max(degree(D1))==0 & max(degree(D2))==0 then
D1=coeff(D1);D2=coeff(D2);
B1C2=B1*C2
SS=tlist(["lss","A","B","C","D","X0","dt"],[A1,B1C2;0*B1C2' ,A2],[B1*D2;B2],...
[C1,D1*C2],D1*D2,[x1;x2],dom1),
return
end
//improper systems
J=[A1,B1*C2;
0*ones(B1*C2)',A2];
Ls=[C1 D1*C2]'
Ms=[B1*D2;B2]
if Ms==[]|Ls==[] then
SS=tlist(["lss","A","B","C","D","X0","dt"],[],[],[],D1*D2,[x1;x2],dom1)
return;
end
//
if type(D1*D2)~=1
s=poly(0,varn(D1*D2));
end
deg=max(degree(Ms));
B=coeff(Ms,deg);
Ps=0*B
for i=1:deg
Ps=s*Ps+B
B=J*B+coeff(Ms,deg-i)
end
//
deg=max(degree(Ls)); J=J'
C=coeff(Ls,deg);
pps=0*C
for i=1:deg
pps=s*pps+C
C=J*C+coeff(Ls,deg-i)
end
//
C=C';
D=pps'*B+Ls'*Ps+D1*D2;
Dg=max(degree(D));
if Dg==0 then D=coeff(D);end
SS=tlist(["lss","A","B","C","D","X0","dt"],J',B,C,D,[x1;x2],dom1);
endfunction
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