📄 ss2phv.m
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function [a,b] = ss2phv(A,B)
%ss2phv Transforms a general state variable equation into phase variable form
% n-1
% for a given A and B if the matrix S =[B AB ... A B] is nonsigular
% H. Saadat, 1998
n=length(A);
for i=1:n;
S(:,n+1-i) = A^(n-i)*B;
end
if rank(S)~=n
error('S is singular, cannot find the transformation matix')
else
T=inv(S);
q1=T(n,:);
for i =1:n;
Q(n+1-i,:)=q1*A^(n-i);
end
clc
disp('The transformation matrix is')
Q
a = Q*A*inv(Q);
b = Q*B;
end
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