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<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" xmlns:scilab="http://www.scilab.org"  xml:lang="ja" xml:id="kpure">
    <refnamediv>
        <refname>kpure</refname>
        <refpurpose>連続SISOシステムの限界フィードバックゲイン</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>呼び出し手順</title>
        <synopsis>
            K=kpure(sys [,tol])
            [K,R]=kpure(sys [,tol])
        </synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>パラメータ</title>
        <variablelist>
            <varlistentry>
                <term>sys</term>
                <listitem>
                    <para>SISO線形システム (syslin)</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>tol</term>
                <listitem>
                    <para>正のスカラー値.  根が虚軸上にあるかどかを判定する
                        際に使用される許容誤差. デフォルト値は
                        <literal>1e-6</literal>.
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>K</term>
                <listitem>
                    <para>実数ベクトル,
                        少なくとも一つの閉ループ極が虚数となるゲインベクトル.
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>R</term>
                <listitem>
                    <para>複素数ベクトル,
                        <literal>K</literal>の値に関連する
                        虚数の閉ループ極.
                    </para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>説明</title>
        <para>
            <literal>K=kpure(sys)</literal> は,
            <literal>K(i)</literal>によるフィードバックを有するシステム <literal>sys</literal>
            (<literal>sys/.K(i)</literal>)
            が虚軸に極を有するようなゲイン <literal>K</literal>を計算します.
        </para>
    </refsection>
    <refsection>
        <title>例</title>
        <programlisting role="example"><![CDATA[
num=real(poly([-1+%i, -1-%i, -1+8*%i  -1-8*%i],'s'));
den=real(poly([0.5 0.5  -6+7*%i  -6-7*%i  -3 -7 -11],'s'));
h=num/den;
[K,Y]=kpure(h)
clf();evans(h)
plot(real(Y),imag(Y),'+r')
 ]]></programlisting>
        <scilab:image>
            num=real(poly([-1+%i, -1-%i, -1+8*%i  -1-8*%i],'s'));
            den=real(poly([0.5 0.5  -6+7*%i  -6-7*%i  -3 -7 -11],'s'));
            h=num/den;
            [K,Y]=kpure(h)
            clf();evans(h)
            plot(real(Y),imag(Y),'+r')
        </scilab:image>
        <programlisting role="example"><![CDATA[
num=real(poly([-1+%i*1, -1-%i*1, 2+%i*8  2-%i*8 -2.5+%i*13 -2.5-%i*13],'s'));
den=real(poly([1 1 3+%i*3 3-%i*3 -15+%i*7  -15-%i*7  -3 -7 -11],'s'));
h=num/den;
[K,Y]=kpure(h)
clf();evans(h,100000)
plot(real(Y),imag(Y),'+r')
 ]]></programlisting>
        <scilab:image>
            num=real(poly([-1+%i*1, -1-%i*1, 2+%i*8  2-%i*8 -2.5+%i*13 -2.5-%i*13],'s'));
            den=real(poly([1 1 3+%i*3 3-%i*3 -15+%i*7  -15-%i*7  -3 -7 -11],'s'));
            h=num/den;
            [K,Y]=kpure(h)
            clf();evans(h,100000)
            plot(real(Y),imag(Y),'+r')
        </scilab:image>
    </refsection>
    <refsection role="see also">
        <title>参照</title>
        <simplelist type="inline">
            <member>
                <link linkend="evans">evans</link>
            </member>
            <member>
                <link linkend="krac2">krac2</link>
            </member>
        </simplelist>
    </refsection>
</refentry>
