.Modelica_LinearSystems2.StateSpace.Analysis.controllabilityMatrix

Information

Syntax

Q = StateSpace.Analysis.controllabilityMatrix(ss, method)

Description

This function calculates the controllability matrix

Q = [B, A*B, ..., A^(n-1)*B]

of the system corresponding to state space system

der(x) = A*x + B*u;
    y  = C*x + D*u;

Example

  Modelica_LinearSystems2.StateSpace ss=Modelica_LinearSystems2.StateSpace(
    A=[1, 1, 1;0, 1, 1;0, 0, 1],
    B=[0; 0; 1],
    C=[0, 1, 0],
    D=[0]);

  Real Q[3,3];

algorithm
  Q := Modelica_LinearSystems2.StateSpace.Analysis.controllabilityMatrix(ss);
// Q = [0, 1, 3; 0, 1, 2; 1, 1, 1]

Interface

encapsulated function controllabilityMatrix
  import Modelica_LinearSystems2.StateSpace;
  input StateSpace ss "State space system";
  output Real cm[size(ss.B, 1), size(ss.A, 2)*size(ss.B, 2)] "Controllability matrix";
end controllabilityMatrix;