Rev | Line | |
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[37] | 1 | function sys = kyp(A,B,P,M) |
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| 2 | %KYP Create KYP matrix variable |
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| 3 | % |
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| 4 | % X = KYP(A,B,P,M) |
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| 5 | % |
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| 6 | % KYP is used to generate the matrix |
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| 7 | % |
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| 8 | % [A'*P+P*A P*B;B'*P zeros(size(B,2))]+M; |
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| 9 | % |
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| 10 | % Note, Information is stored internally |
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| 11 | % to inform YALMIP that this is a object |
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| 12 | % defined from a KYP structure. Hence, |
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| 13 | % the objects KYP(A,B,P,M) and the SDPVAR |
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| 14 | % [A'*P+P*A P*B;B'*P zeros(size(B,2))]+M |
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| 15 | % are not equivalent |
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| 16 | % |
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| 17 | % See also @sdpvar/LYAP |
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| 18 | |
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| 19 | % Author Johan Löfberg |
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| 20 | % $Id: kyp.m,v 1.4 2005/01/20 18:37:05 johanl Exp $ |
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| 21 | |
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| 22 | if isempty(B) |
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| 23 | kyp_part = [A'*P+P*A]; |
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| 24 | else |
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| 25 | kyp_part = [A'*P+P*A P*B;B'*P zeros(size(B,2))]; |
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| 26 | end |
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| 27 | if isempty(kyp_part) |
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| 28 | sys = M; |
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| 29 | else |
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| 30 | if isempty(M) |
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| 31 | sys = kyp_part; |
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| 32 | else |
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| 33 | sys = kyp_part+M; |
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| 34 | end |
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| 35 | end |
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| 36 | sys.typeflag = 9; |
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| 37 | sys.extra.A = A; |
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| 38 | sys.extra.B = B; |
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| 39 | sys.extra.P = P; |
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| 40 | sys.extra.M = M; |
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| 41 | sys.extra.negated = 0; |
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