h2syn

% -*- texinfo -*-
% @deftypefn {Function File} {[@var{K}, @var{gain}, @var{kc}, @var{kf}, @var{pc}, @var{pf}] =} h2syn (@var{asys}, @var{nu}, @var{ny}, @var{tol})
% Design 
% @iftex
% @tex
% $ { \cal H }_2 $
% @end tex
% @end iftex
% @ifinfo
% H-2
% @end ifinfo
% optimal controller per procedure in 
% Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard}
% @iftex
% @tex
% $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
% @end tex
% @end iftex
% @ifinfo
% @cite{H-2 and H-infinity}
% @end ifinfo
% @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
%
% Discrete-time control per Zhou, Doyle, and Glover, @cite{Robust and optimal control}, Prentice-Hall, 1996.
%
% @strong{Inputs}
% @table @var
% @item asys
% system data structure (see ss, sys2ss)
% @itemize @bullet
% @item controller is implemented for continuous time systems
% @item controller is @strong{not} implemented for discrete time systems
% @end itemize
% @item nu
% number of controlled inputs
% @item ny
% number of measured outputs
% @item tol
% threshold for 0.  Default: 200*@code{eps}
% @end table
%
% @strong{Outputs}
% @table @var
% @item    k
% system controller
% @item    gain
% optimal closed loop gain
% @item    kc
% full information control (packed)
% @item    kf
% state estimator (packed)
% @item    pc
% @acronym{ARE} solution matrix for regulator subproblem
% @item    pf
% @acronym{ARE} solution matrix for filter subproblem
% @end table
% @end deftypefn