% MUTOOLS - MU Analysis and Synthesis Toolbox 
% 
% This file contains a description of all mutools functions.
% It begins with a list of functions in alphabetical order, 
% followed by a list of functions grouped by subject area.
% 
%                                               14 April 91 
% Summary of Commands
% 
% abv  		Stack constant/varying/system matrices above one another
% blknorm 	Block norm of a constant/varying matrix
% cjt 		Conjugate transpose of a constant/varying/system matrix 
% cos_tr 	Generate a cosine signal as a varying matrix 
% crand   	Generate a complex random matrix 
% csord  	Ordered complex Schur form 
% daug 		Diagonal augmentation of constant/varying/system matrices
% drawmag 	Interactive moused-based sketch and fitting tool
% dtrsp 	Discrete time response of a linear system
% dypert 	Create a rational perturbation from frequency MU data
% fitmag 	Fit magnitude data with a real, rational, transfer function
% fitmaglp 	Fit magnitude data with a real, rational, transfer function
% fitsys 	Fit frequency response data with a transfer function
% frsp 		Frequency response of a system matrix
% genphase  	Generate a minimum phase frequency response to magnitude data
% getiv 	Get the independent variable of a varying matrix
% h2norm 	Calculate 2-norm of a stable, strictly proper system 
% h2syn		H_2 control design
% hankmr 	Optimal Hankel norm approximation of a system
% hinffi 	H_infinity full information control design
% hinfnorm 	Calculate infinity norm of a stable, proper system
% hinfsyn	H_infinity control design
% indvcmp 	Compare the independent variable data of two matrices
% madd		Addition of constant/varying/system matrices
% magfit	Fit frequency response data with a transfer function (Batch)
% minfo		Information on a matrix
% minv		Inverse of constant/varying/system matrices
% mmult		Multiplication of constant/varying/system matrices
% mprintf	Formatted printing of a matrix
% mscl		Scale (by a scalar) a system or varying matrix
% msub		Subtraction of constant/varying/system matrices
% mu		mu-analysis of constant/varying matrices
% muftbtch	A batch D scaling rational fit routine
% musynfit	An interactive D scaling rational fit routine
% musynflp	An interactive D scaling rational fit routine
% nd2sys	Convert a SISO transfer function into a system matrix
% negangle	Calculate angle of matrix elements between 0 and -2pi
% pck		Create a system matrix from state-space data (A,B,C,D)
% pkvnorm	Peak norm of varying matrix
% pss2sys	Convert an [A B;C D] matrix into a mutools system matrix
% randel	Generate a random perturbation
% reordsys	Reorder states of the system
% ric_eig	Solve a Riccati equation via eigenvalue decomposition
% ric_schr	Solve a Riccati equation via real Schur decomposition
% rifd		Display real, imaginary, frequency and damping data
% samhld	Create a sample-hold approximation of a continuous system
% sbs		Stack matrices next to one another
% sclin		Scale system input
% sclout	Scale system output
% scliv		Scale the independent variable
% sdecomp	Decompose a system matrix into two system matrices
% see		Display varying/system matrices
% seeiv		Print independent variables of a varying matrix
% seesys	Formatted varying/system display
% sel		Select rows/columns or outputs/inputs
% sfrwtbal	Weighted balanced realization of a system matrix
% sfrwtbld	Stable weighted balanced realization of a system matrix
% sin_tr	Generate a sine signal as a varying matrix
% siggen        Generate a signal as a varying matrix
% sisorat	Fit a frequency point with a first order, all-pass,
%		 stable transfer function
% sncfbal	Balanced realization of coprime factors of a system matrix
% sortiv	Sort the independent variable
% spoles	Poles of system matrix
% srelbal	Stochastic balanced realization of a system matrix
% sresid	Residualize states of a system matrix
% starp		Redheffer star product
% statecc	Apply a coordinate transformation to system matrices
% step\_tr	Generate a step signal as a varying matrix
% strans	Bidiagonal coordinate transformation of system matrices
% strunc	Truncate states of a system matrix
% sys2pss	Extract the state-space matrix [A B; C D] from a system matrix
% sysbal	Balanced realization of a system matrix
% sysic		System interconnection program
% sysrand	Generate a random system matrix
% szeros	Transmission zeros of a system matrix
% tackon	String together varying matrices
% transp	Transpose of varying/system matrices
% trsp		Time response of a linear system
% tustin	Prewarped continuous system to discrete system transformation
% unpck		Extract state-space data (A,B,C,D) from a system matrix
% unwrapd	Construct D scaling from MU
% unwrapp	Construct Delta perturbation from MU
% vabs		Absolute value of a varying/constant matrix
% var2con	Convert a varying matrix to a constant matrix
% varyrand	Generate a random varying matrix
% vceil		Round elements of constant/varying matrices towards infinity
% vconj		Conjugate of constant/varying matrices
% vcjt		Conjugate transpace of constant/varying matrices
% vdcmate	Decimate a varying matrix
% vdet		Determinant of constant/varying matrices
% vdiag		Diagonal of  constant/varying matrices
% vebe		Element-by-element operations on varying matrices
% veig		Eigenvalue decomposition of constant/varying matrices
% veval		Evaluate general functions of varying matrices
% vexpm		Exponential of  constant/varying matrices
% vfft		FFT for varying matrices
% vfloor	Round elements of constant/varying matrices towards -infinity
% vifft		Inverse FFT for varying matrices
% vinv		Inverse of a constant/varying matrix
% vimag		Imaginary part of a constant/varying matrix
% vinterp	Interpolate varying matrices
% vldiv		Left division of constant/varying matrices
% vnorm		Norm of varying/constant matrices
% vpoly		Characteristic polynomial of varying/constant matrices
% vpinv		Pseudoinverse of a constant/varying matrix
% vplot		Plot a varying matrix
% vpck		Pack a varying matrix
% vrcond	Condition number of a constant/varying matrix
% vrdiv		Right division of constant/varying matrices
% vreal		Real part of a constant/varying matrix
% vrho		Spectral radius of a varying/constant matrix
% vroots	Polynomial roots of varying/constant matrices
% vschur	Schur form of a varying/constant matrix.
% vspect	Signal Processing % spectrum} command for varying matrices
% vsvd		Singular value decomposition of a varying/constant matrix
% vtp		Transpose of constant/varying matrices
% vunpck	Unpack a varying matrix
% vzoom		Mouse driven axis selection of plot window
% xtract	Extract portions of a varying matrix
% xtracti	Extract portions of  a varying matrix
% zp2sys	Convert transfer function poles and zeros into system matrix
%
%___________________________________________________________________________
%
%                    COMMANDS GROUPED BY FUNCTION
%
%___________________________________________________________________________
%
% STANDARD OPERATIONS/ BASIC FUNCTIONS
%
% abv		Stack constant/varying/system matrices above one another
% cjt		Conjugate transpose of varying/system matrices
% daug		Diagonal augmentation of constant/varying/system matrices
% madd		Addition of constant/varying/system matrices
% minv		Inverse of constant/varying/system matrices
% mmult		Multiplication of constant/varying/system matrices
% mscl		Scale (by a scalar) a system or varying matrix
% msub		Subtraction of constant/varying/system matrices
% sbs		Stack matrices next to one another
% sclin		Scale system input 
% sclout	Scale system output
% sel		Select rows/columns or outputs/inputs
% starp		Redheffer star product
% transp	Transpose of varying/system matrices
%
% MATRIX INFORMATION, DISPLAY AND PLOTTING
%
% drawmag	Interactive moused-based sketch and fitting tool
% minfo		Information on a matrix
% mprintf	Formatted printing of a matrix
% rifd		Display real, imaginary, frequency and damping data
% see		Display varying/system matrices
% seeiv		Display independent variables of a varying matrix
% seesys	Formatted varying/system display
% vplot		Plot a varying matrix
% vzoom		Mouse driven axis selection of plot window
%
% MODELING FUNCTIONS
%
% nd2sys	Convert a SISO transfer function into a system matrix
% pck		Create a system matrix from state-space data (A,B,C,D)
% pss2sys	Convert an [A B;C D] matrix into a mutools system matrix
% sys2pss	Extract state-space matrix [A B; C D] from a system matrix
% sysic		System interconnection program
% unpck		Extract state-space data (A,B,C,D) from a system matrix
% zp2sys	Convert transfer function poles and zeros to a system matrix
%
% SYSTEM MATRIX FUNCTIONS
%
% reordsys	Reorder states in a system matrix
% samhld	Sample-hold approximation of a continuous system
% spoles	Poles of system matrix
% statecc	Apply a coordinate transformation to system matrices
% strans	Bidiagonal coordinate transformation of system matrices
% sysrand	Generate a random system matrix
% szeros	Transmission zeros of a system matrix
% tustin	Prewarped continuous to discrete system transformation 
%
% MODEL REDUCTION FUNCTIONS
%
% hankmr	Optimal Hankel norm approximation of a system
% sdecomp	Decompose a system matrix into two system matrices
% sfrwtbal	Frequency weighted balanced realization of a system matrix
% sfrwtbld	Stable frequency weighted realization of a system matrix
% sncfbal	Balanced realization of coprime factors of a system matrix
% srelbal	Stochastic balanced realization of a system matrix
% sresid	Residualize states of a system matrix
% strunc	Truncate states of a system matrix
% sysbal	Balanced realization of a system matrix
%
% SYSTEM RESPONSE FUNCTIONS
%
% cos_tr	Generate a cosine signal as a varying matrix 
% dtrsp		Discrete time response of a linear system
% frsp		Frequency response of a system matrix
% sin_tr	Generate a sine signal as a varying matrix
% siggen	Generate a signal as a varying matrix
% step_tr	Generate a step signal as a varying matrix
% trsp		Time response of a linear system
%
% H_2 and H_infinity ANALYSIS AND SYNTHESIS FUNCTIONS
%
% h2norm	Calculate 2-norm of a stable, strictly proper system 
% h2syn		H_2 control design
% hinffi	H_infinity full information control design
% hinfnorm	Calculate infinity norm of a stable, proper system 
% hinfsyn	H_infinity control design
% pkvnorm	Peak norm of varying matrix
%
% STRUCTURED SINGULAR VALUE (MU) ANALYSIS AND SYNTHESIS
%
% blknorm	Block norm of constant/varying matrices
% dypert	Create a rational perturbation from frequency MU data
% fitmag	Fit magnitude data with real, rational, transfer function
% fitmaglp	Fit magnitude data with real, rational, transfer function
% fitsys	Fit frequency response data with transfer function
% genphase	Generate a minimum phase frequency response to magnitude data
% magfit	Fit magnitude data with real, rational, transfer 
%                function (a batch process)
% mu		mu analysis of constant/varying matrices
% muftbtch	Batch D scaling rational fit routine
% musynfit	Interactive D scaling rational fit routine
% musynflp	Interactive D scaling rational fit routine 
% randel	Generate a random perturbation
% sisorat	Fit a frequency point with first order, all-pass, 
%                stable transfer function
% unwrapd	Construct D scaling from MU
% unwrapp	Construct $\Delta$ perturbation from MU
%
% VARYING MATRIX MANIPULATION
%
% getiv		Get the independent variable of a varying matrix
% indvcmp	Compare the independent variable data of two matrices
% scliv		Scale the independent variable
% sortiv	Sort the independent variable
% tackon	String together varying matrices
% var2con	Convert a varying matrix to a constant matrix
% varyrand	Generate a random varying matrix
% vpck		Pack a varying matrix
% vunpck	Unpack a varying matrix
% xtract	Extract portions of a varying matrix
% xtracti	Extract portions of a varying matrix
%
% STANDARD MATLAB COMMANDS FOR VARYING MATRICES
%
% vabs		Absolute value of a constant/varying matrix
% vceil		Round elements of constant/varying matrices towards infinity
% vdet		Determinant of constant/varying matrices
% vdiag		Diagonal of  constant/varying matrices
% veig		Eigenvalue decomposition of constant/varying matrices
% vexpm		Exponential of  constant/varying matrices
% vfft		FFT for varying matrices
% vfloor	Round elements of constant/varying matrices towards -infinity
% vifft		Inverse FFT for varying matrices
% vinv		Inverse of a constant/varying matrix
% vimag		Imaginary part of a constant/varying matrix
% vnorm		Norm of varying/constant matrices
% vpoly		Characteristic polynomial of constant/varying matrices
% vpinv		Pseudoinverse of a constant/varying matrix
% vrcond	Condition number of a constant/varying matrix
% vreal		Real part of a constant/varying matrix
% vroots	Polynomial roots of constant/varying matrices
% vschur	Schur form of a constant/varying matrix
% vspect	Signal Processing spectrum command for varying matrices
% vsvd		Singular value decomposition of a constant/varying matrix
%
% ADDITIONAL VARYING MATRIX FUNCTIONS
%
% vconj		Conjugate of constant/varying matrices
% vcjt		Conjugate transpose of constant/varying matrices
% vdcmate	Decimate varying matrices
% vebe		Element-by-element operations on varying matrices
% veval		Evaluate general functions of varying matrices
% vinterp	Interpolate varying matrices
% vldiv		Left division of constant/varying matrices
% vrdiv		Right division of constant/varying matrices
% vrho		Spectral radius of a constant/varying matrix
% vtp		Transpose of constant/varying matrices
%
% UTILITIES AND MISCELLANEOUS FUNCTIONS
%
% crand		Complex random matrix generator
% csord		Order complex Schur form matrices
% negangle	Calculate angle of matrix elements between 0 and -2pi
% ric_eig	Solve a Riccati equation via eigenvalue decomposition
% ric_schr	Solve a Riccati equation via real Schur decomposition
%
% Use HELP on these files, or TYPE them for more information.
