ccontrg Central H-infinity continuous time controller

## Syntax

    K = ccontrg(P, r, gamma)

## Arguments

P

  a continuous time linear dynamical system in state-space representation.

r

  a two elements vector with integer values: the dimension of the 2,2 part of `P`

gamma

  real number

## Description

returns a realization `K` of the central controller for the general standard problem in state-space form.

Note that gamma must be > gopt (output of `gamitg`)

P contains the parameters of plant realization `(A,B,C,D)` (`syslin` list) with

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

`r(1)` and `r(2)` are the dimensions of `D22` (rows x columns)

## See also

- gamitg
- h_inf

## Authors

P. Gahinet (INRIA);

## History

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