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#include <control.h>
#define NUMX 4 // number of states
#define NUMU 2 // number of inputs
#define NUMY 2 // number of outputs
int main() {
array double A[NUMX][NUMX] = {{0, 1, 0, 0},
{0, 0, 0, 0.0024},
{0, 0, 0, 1},
{0, -0.0024, 0, 0}};
array double B[NUMX][NUMU] = {0, 0, 1, 0, 0, 0, 0, 1};
array double C[NUMY][NUMX] = {1, 0, 0, 0, 0, 0, 1, 0};
array double co[NUMX][NUMX*NUMU];
array double ob[NUMX*NUMY][NUMX];
int num;
class CControl sys;
sys.model("ss", A, B, C, NULL);
sys.ctrb(co);
num = rank(co);
if(num == NUMX)
printf("The system is controllable.\n");
else
printf("The system is not controllable.\n");
printf("co = \n%f\n", co);
sys.obsv(ob);
num = rank(ob);
if(num == NUMX)
printf("The system is observable.\n");
else
printf("The system is not observable.\n");
printf("ob = \n%f\n", ob);
return 0;
}
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