ctrb {control}

Form Controllability Matrix

Description

ctrb forms the controllability matrix.

Usage

ctrb(A, B)

Arguments

A

State matrix, A

B

State matrix, B

Details

ctrb ctrb(a, b) returns the controllability matrix, [B AB A^2B ... A^(n-1)B]. If the Controllability matrix has full row rank, the system is controllable.

Value

Returns the controllability matrix.

See Also

obsv

Examples

a1 <- rbind(c(0,0),c(1,-3))
b1 <- rbind(-2,0)
ctrb(a1, b1)