augm(A,B,L);

function augm(A,B,L);
%AUGM Analog Upper gain  margin.
%	augm(A,B,L) computes and prints the upper gain margin(s) for the 
%	loop transfer function described by the state space matrices A,B,L. 
%	The maximum margin the function searches for is 30 dB.

%  R.J. Vaccaro 4/03

UGmax=31;
[n,p]=size(B);
for loop = 1:p
  bv=B(:,loop);
  t1=1;
  t2=2;
  skip=0;
  B(:,loop)=t2*bv;
  while skip==0 & max(real(eig(A-B*L)))<0
    if t2>UGmax
	skip=1;
	ug=t2;
    end
    t2=2*t2;
    B(:,loop)=t2*bv;
  end
  if skip==0
    while 20*log10(t2/t1)>0.001
    	tt=(t1+t2)/2;
	B(:,loop)=tt*bv;
	if  max(real(eig(A-B*L)))>0
	  t2=tt;
	else
	  t1=tt;
	end
    end
    ug=tt;
  end
  ugm(loop)=20*log10(ug);
  fprintf('Upper gain margin for input #%g is %g dB\n',loop,...
					round(100*ugm(loop))/100);
  B(:,loop)=bv;
end
%
%  END OF AUGM.M