getf SCI/util/testexamples.sci
 
reinit_for_test()
 
%U=mopen('SCI/tests/automatic_tests/ddp_data.ref','rb');
 
rand('seed', 0);nx = 6;nz = 3;nu = 2;ny = 1;
 
A = diag(1:6);A(2, 2) = -7;A(5, 5) = -9;B2 = [1,2;0,3;0,4;0,5;0,0;0,0];
 
C1 = [zeros(nz, nz),eye(nz, nz)];D12 = [0,1;0,2;0,3];
 
Sys12 = syslin('c', A, B2, C1, D12);
 
C = [C1;rand(ny, nx)];D2 = [D12;rand(ny, size(D12, 2))];
 
Sys = syslin('c', A, B2, C, D2);
 
[A,B2,C1,D12] = abcd(Sys12);//The matrices of Sys12.
 
alfa = -1;beta = -2;flag = 'ge';
Warning :redefining function: beta                    
 
 
[X,dims,F,U,k,Z] = abinv(Sys12, alfa, beta, flag);
WARNING:system not stabilizable (or detectable)=>stabilizing the stabilizable part
WARNING:system not stabilizable (or detectable)=>stabilizing the stabilizable part
 
%ans = clean(X' * (A + B2 * F) * X);
 
if load_ref_nocheck('%ans') then   bugmes();quit;end,
 
 
%ans = clean(X' * B2 * U);
 
if load_ref_nocheck('%ans') then   bugmes();quit;end,
 
 
%ans = clean((C1 + D12 * F) * X);
 
if load_ref_nocheck('%ans') then   bugmes();quit;end,
 
 
clean(D12 * U);
 
//Calculating an ad-hoc B1,D1
 
G1 = rand(size(B2, 2), 3);
 
B1 = -B2 * G1;
 
D11 = -D12 * G1;
 
D1 = [D11;rand(ny, size(B1, 2))];
 
 
[Closed,F,G] = ddp(Sys, 1:nz, B1, D1, 'st', alfa, beta);
WARNING:system not stabilizable (or detectable)=>stabilizing the stabilizable part
 
closed = syslin('c', A + B2 * F, B1 + B2 * G, C1 + D12 * F, D11 + D12 * G);
 
%ans = ss2tf(closed);
 
if load_ref('%ans') then   bugmes();quit;end,
 
 
xdel_run(winsid());
 
 
mclose(%U);