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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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