Function File: W = gram (sys, mode)

Function File: Wc = gram (a, b)

gram (sys, "c") returns the controllability gramian of the (continuous- or discrete-time) system sys. gram (sys, "o") returns the observability gramian of the (continuous- or discrete-time) system sys. gram (a, b) returns the controllability gramian Wc of the continuous-time system dx/dt = a x + b u; i.e., Wc satisfies a Wc + m Wc' + b b' = 0.

Package: control