macglov Continuous time dynamical systems Mac Farlane Glover problem

## Syntax

    [P, r] = macglov(Sl)

## Arguments

Sl

  a continuous time linear dynamical system

P

  a continuous time linear dynamical system, the "augmented" plant

r

  1x2 vector, dimension of `P22`

## Description

`[P,r]=macglov(Sl)` returns the standard plant `P` for the Glover-McFarlane problem.

For this problem `ro_optimal = 1-hankel_norm([N,M]`) with `[N,M]=lcf(sl)` (Normalized coprime factorization) i.e.

`gama_optimal = 1/sqrt(ro_optimal)`

`P` is returned in the same representation (transfer function or state-space) than `Sl`.

## Examples

MAC-FARLANE PROBLEM for G=1/s^3;

        G=syslin("c",1/%s^3);
        [P,r]=macglov(G);

        //K Optimal controller , ro = gamaopt^-2;
        [K,ro]=h_inf(P,r,0,1,30);

## Authors

F. Delebecque INRIA

## History

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