Scilab Function

ccontrg - central H-infinity controller

### Sequence d'appel

  `[K]=ccontrg(P,r,gamma);`

### Parametres

- `P` : `syslin` list (linear system in state-space representation)
- `r` : 1x2 row vector, 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 (ouput 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)

### Voir aussi

`gamitg` `h_inf`

### Auteur

P. Gahinet (INRIA);