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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="stabil">
    <refnamediv>
        <refname>stabil</refname>
        <refpurpose>安定化</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>呼び出し手順</title>
        <synopsis>F=stabil(A,B,alfa)
            K=stabil(Sys,alfa,beta)
        </synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>パラメータ</title>
        <variablelist>
            <varlistentry>
                <term>A</term>
                <listitem>
                    <para>
                        正方実数行列 (<literal>nx x nx</literal>)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>B</term>
                <listitem>
                    <para>
                        実数行列 (<literal>nx x nu</literal>)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>alfa, beta</term>
                <listitem>
                    <para> 実数または(共役対の)複素ベクトルまたは実数.</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>F</term>
                <listitem>
                    <para>
                        実数行列 (<literal>nx x nu</literal>)
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>Sys</term>
                <listitem>
                    <para>
                        線形システム (<literal>syslin</literal> リスト) (<literal>m</literal> 入力, <literal>p</literal> 出力).
                    </para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>K</term>
                <listitem>
                    <para>
                        線形システム (<literal>p</literal> 入力, <literal>m</literal> 出力)
                    </para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>説明</title>
        <para>
            <literal>F=stabil(A,B,alfa)</literal> は,
            対<literal>(A,B)</literal>が可安定の場合, <literal>A+B*F</literal> が安定となるような
            ゲイン行列 <literal>F</literal> を返します.
            配置可能な極は,<literal>alfa(1),alfa(2),...</literal>に設定されます.
            <literal>(A,B)</literal> が可安定でない場合, 警告が出力され,
            配置可能な極が <literal>alfa(1),alfa(2),...</literal> に設定されます.
            <literal>alfa</literal> は,
            全ての固有値がこの<literal>alfa</literal>に設定される数値です
            (デフォルト値は <literal>alfa=-1</literal>).
        </para>
        <para>
            <literal>K=stabil(Sys,alfa,beta)</literal> は,
            <literal>(A,B)</literal> の可制御な固有値を<literal>alfa</literal>に設定し,
            <literal>(C,A)</literal>の可観測な固有値を<literal>beta</literal>に設定する
            <literal>Sys</literal>の補償器<literal>K</literal>を返します.
        </para>
        <para>
            全ての配置可能な閉ループ極  (
            これは,<literal>Aclosed=h_cl(Sys,K)</literal>の固有値として指定されます)
            は, <literal>alfa(i)</literal>および<literal>beta(j)</literal>に設定されます.
        </para>
    </refsection>
    <refsection>
        <title>例</title>
        <programlisting role="example"><![CDATA[
// Gain:
Sys=ssrand(0,2,5,list('st',2,3,3));
A=Sys('A');B=Sys('B');F=stabil(A,B);
spec(A) //2 controllable modes 2 unstable uncontrollable modes
//and one stable uncontrollable mode
spec(A+B*F) //the two controllable modes are set to -1.
// Compensator:
Sys=ssrand(3,2,5,list('st',2,3,3)); //3 outputs, 2 inputs, 5 states
//2 controllables modes, 3 controllable or stabilizable modes.
K=stabil(Sys,-2,-3);  //Compensator for Sys.
spec(Sys('A'))
spec(h_cl(Sys,K))   //K Stabilizes what can be stabilized.
 ]]></programlisting>
    </refsection>
    <refsection role="see also">
        <title>参照</title>
        <simplelist type="inline">
            <member>
                <link linkend="st_ility">st_ility</link>
            </member>
            <member>
                <link linkend="contr">contr</link>
            </member>
            <member>
                <link linkend="ppol">ppol</link>
            </member>
        </simplelist>
    </refsection>
</refentry>
