gamitg H-infinity gamma iterations for continuous time systems

## Syntax

                gopt = gamitg(G, r, prec)
                gopt = gamitg(G, r, prec, options)

## Arguments

G

  a continuous time dynamical system (plant realization).

r

  1x2 row vector (dimension of `G22`)

prec

  desired relative accuracy on the norm

option

  string `'t'`

gopt

  real scalar, optimal H-infinity gain

## Description

`gopt=gamitg(G,r,prec [,options])` returns the H-infinity optimal gain `gopt`.

`G` contains the state-space matrices `[A,B,C,D]` of the plant with the usual partitions:

    B = ( B1 , B2 ) ,    C = ( C1 ) ,    D = ( D11  D12)
                             ( C2 )          ( D21  D22)

These partitions are implicitly given in `r`: `r(1)` and `r(2)` are the dimensions of `D22` (rows x columns)

With `option='t'`, `gamitg` traces each bisection step, i.e., displays the lower and upper bounds and the current test point.

## See also

- ccontrg
- h_inf

## Authors

P. Gahinet

## History

5.4.0 `Sl` is now checked for continuous time linear dynamical system. This modification has been introduced by this commit