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obsv.m
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1999-04-29
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# Copyright (C) 1997 Kai P. Mueller
#
# This file is part of Octave.
#
# Octave is free software; you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the
# Free Software Foundation; either version 2, or (at your option) any
# later version.
#
# Octave is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License
# along with Octave; see the file COPYING. If not, write to the Free
# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
function Qb = obsv(sys, c)
# ------------------------------------------------------
# Qb = obsv(sys [, c])
# Build observability matrix
#
# + +
# | C |
# | CA |
# Qb = | CA^2 |
# | ... |
# | CA^(n-1) |
# + +
#
# of a system data structure or the pair (A, C).
#
# Note: obsv() forms the observability matrix.
# The numerical properties of is_obsrv()
# are much better for observability tests.
# See also: ctrb, is_obsrv, is_contr
# ------------------------------------------------------
# Written by Kai P. Mueller November 4, 1997
# modified by
if (nargin == 2)
a = sys;
elseif (nargin == 1 && is_struct(sys))
sysupdat(sys,"ss");
[a,b,c] = sys2ss(sys);
else
usage("obsv(sys [, c])")
endif
if (!is_abcd(a,c'))
Qb = [];
else
# no need to check dimensions, we trust is_abcd().
[na, ma] = size(a);
[nc, mc] = size(c);
Qb = zeros(na*nc, ma);
for i = 1:na
Qb((i-1)*nc+1:i*nc, :) = c;
c = c * a;
endfor
endif
endfunction