ctrb

Controllability matrix.

Syntax

CO = ctrb(SYS)

CO = ctrb(A, B)

Inputs

SYS
State-space LTI object.
A
The state matrix (n x n), where n is the number of states.
B
The input matrix (n x p), where p is the number of inputs.

Outputs

CO
The controllability matrix.

Example

Include the ctrb function: 
A = [0.3 2;5 -0.6];
B = [.5 -2;3 -.8];
sys=ss(A, B, [], []);
Y=ctrb(sys)
Y = [Matrix] 2 x 4
0.50000  -2.00000  6.15000  -2.20000
3.00000  -0.80000  0.70000  -9.52000
% uncontrollable number of states corresponding to the number of singular values below a threshold.
unco = length(A) - rank(X)

Comments

The function computes the controllability matrix of a state-space system.