% =========================================================================
%   Praktikum MATLAB/Simulink II
%   Technische Universität Darmstadt
%   IAT, FG rtm (Prof. Dr.-Ing. U. Konigorski)
%
%   Copyright (c) 2017, FG Regelungstechnik und Mechatronik,
%                       Technische Universität Darmstadt
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% =========================================================================

function Aufgabe_SteuerbarkBeobachtbark
    % Untersuchung der Steuer- und Beobachtbarkeit nach verschiedenen
    % Kriterien
	clc;

	para

%	[A,B,C] = initLinear( l, mp, ms, Rs, Rp, g, pi );
%    [A,B,C] = initLinear( l, mp, ms, Rs, 0, g, pi );
    [A,B,C] = initLinear( l, mp, ms, 0, 0, g, pi );
	
    %% Steuer- und Beobachtbarkeit nach Kalman
    checkCtrbKalman( A, B );
%     if ( rank( ctrb( A, B ) ) == size( A, 1 ) )
%         disp( 'Steuerbar nach Kalman!' );
%     else
%         disp( 'Nicht steuerbar nach Kalman!' );
%     end
    
    checkObsvKalman( A, C );
%     if ( rank( obsv( A, C ) ) == size( A, 1 ) )
%         disp( 'Beobachtbar nach Kalman!' );
%     else
%         disp( 'Nicht beobachtbar nach Kalman!' );
%     end
    
    %% Steuer- und Beobachtbarkeit nach Gilbert
    checkCtrbGilbert( A, B );
    checkObsvGilbert( A, C );
    
    %% Steuer- und Beobachtbarkeit nach Hautus
    checkCtrbHautus( A, B );
    checkObsvHautus( A, C );

end