function?[Tc]?=canon_ctrb（?AbCc1c2）
%?ABC分別為系數矩陣;
%?c1c2=1實現能控1型，c1c2=2實現能控2型；?
n=length（A）;A_Poly=[];Mc1=[];
Mc=ctrb（Ab）;
if（rank（Mc）~=n）
????error（‘系統不能控!‘）
elseif（c1c2==1）
????p=poly（A）;
????????for?i=1:n
????????A_Poly=[A_Poly?p（1:n）‘];
????????p=[0?p（1:n）];
????end
????????for?i=n-1:-1:0
????????Mc1=[Mc1?A^i*b];
????end
????Tc1=sym（Mc1*A_Poly）
????Ac1=inv（Tc1）*A*Tc1
????bc1=inv（Tc1）*b
????Cc1=C*Tc1
????Tc=Tc1;????
elseif（c1c2==2）
????Tc2=sym（Mc）
????Ac2=inv（Tc2）*A*Tc2
????bc2=inv（Tc2）*b
????Cc2=C*Tc2
????Tc=Tc2;
end??
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????594??2014-06-12?09:26??canon_ctrb.m
?????文件?????????597??2014-06-12?11:09??canon_obsv.m
?????文件?????????511??2014-07-24?07:05??discrete_model.m
?????文件?????????443??2013-11-24?13:46??expAt.m
?????文件?????????206??2014-07-13?21:46??Full_observer.m
?????文件????????1023??2013-12-16?09:20??LQ_adjust.m
?????文件?????????868??2014-07-05?19:50??LQ_adjustor.m
?????文件?????????926??2014-07-09?19:37??LQ_track.m
?????文件?????????535??2014-05-24?07:14??matrix_exp.m
?????文件?????????530??2014-06-22?07:53??mini_observer.m
?????文件?????????485??2014-06-22?06:49??min_observer.m
?????文件?????????511??2014-05-19?19:39??ss_ctrb1.m
?????文件?????????529??2014-06-04?11:11??ss_ctrb2.m
?????文件?????????530??2014-06-04?11:10??ss_ctrb2p.m
?????文件?????????656??2014-06-04?11:15??ss_ctrb2pp.m
?????文件?????????675??2014-05-01?12:39??ss_obsv1.m
?????文件?????????317??2014-05-29?10:22??stability_1.m
?????文件?????????341??2014-07-14?20:57??stability_2.m
?????文件?????????641??2014-05-23?09:02??time_response1.m
?????文件?????????595??2014-05-23?08:55??time_response2.m
?????文件?????????690??2014-05-24?07:22??time_response3.m
?????文件?????????539??2014-06-05?10:14??time_response4.m
?????文件?????????472??2014-06-02?22:31??time_response4p.m
?????文件?????????792??2014-06-06?13:34??time_response5.m
?????文件?????????939??2013-11-24?19:32??time_response5p.m
?????文件?????????669??2014-06-05?10:49??time_response6.m
?????文件?????????577??2014-06-03?09:20??time_response6p.m
?????文件?????????791??2014-06-03?09:34??time_response6__.m
?????文件?????????715??2014-06-20?15:24??uncouple_design.m
?????文件?????????245??2014-06-22?07:40??whole_observer.m