Title :
Recursive technique for computation of Gramians
Author_Institution :
Dept. of Electr. & Electron. Eng., Univ. of Western Australia, Nedlands, WA, Australia
fDate :
5/1/1993 12:00:00 AM
Abstract :
A simple recursive method for the computation of Gramians for stable linear continuous systems is proposed. The method is based on an extension of Astrom-Jury-Agniel algorithm. The algorithms for the computation of controllability, observability, and cross Gramians for both SISO and MIMO systems are presented. The proposed method is illustrated by numerical examples and is also compared with the Lyapunov equation method of computing the Gramians.
Keywords :
Lyapunov methods; controllability; linear systems; multivariable control systems; observability; stability; Astrom-Jury-Agniel algorithm; Lyapunov equation; MIMO systems; SISO systems; controllability; cross Gramians; multivariable systems; observability; recursive method; stability; stable linear continuous systems;
Journal_Title :
Control Theory and Applications, IEE Proceedings D
