h_cl

Arguments

P, P22

continuous time linear dynamical systems: augmented plant or nominal plant respectively

r

a two elements vector, dimensions of 2,2 part of P (r=[rows,cols]=size(P22))

K

a continuous time linear dynamical system: the controller

Acl

real square matrix

Description

Given the standard plant P (with r=size(P22)) and the controller K, this function returns the closed loop matrix Acl.

The poles of Acl must be stable for the internal stability of the closed loop system.

Acl is the A-matrix of the linear system [I -P22;-K I]^-1 i.e. the A-matrix of lft(P,r,K)

See Also

• lft — linear fractional transformation

Authors

F. D.

History