45 lines
881 B
Mathematica
45 lines
881 B
Mathematica
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function sys = kyp(A,B,P,M)
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%KYP Create KYP matrix variable
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%
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% X = KYP(A,B,P,M)
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%
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% KYP is used to generate the matrix
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%
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% [A'*P+P*A P*B;B'*P zeros(size(B,2))]+M;
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%
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% Note, Information is stored internally
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% to inform YALMIP that this is a object
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% defined from a KYP structure. Hence,
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% the objects KYP(A,B,P,M) and the SDPVAR
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% [A'*P+P*A P*B;B'*P zeros(size(B,2))]+M
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% are not equivalent
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%
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% See also @sdpvar/GKYP, @sdpvar/LYAP
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if nargin<4
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M = 0;
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end
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%sys = gkyp([A B; eye(size(A,1)) zeros(size(A,1),size(B,2))],[0 1;1 0],P,M);
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if isempty(B)
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kyp_part = [A'*P+P*A];
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else
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kyp_part = [A'*P+P*A P*B;B'*P zeros(size(B,2))];
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end
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if isempty(kyp_part)
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sys = M;
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else
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if isempty(M)
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sys = kyp_part;
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else
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sys = kyp_part+M;
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end
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end
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sys.typeflag = 9;
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sys.extra.A = A;
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sys.extra.B = B;
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sys.extra.P = P;
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sys.extra.M = M;
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sys.extra.negated = 0;
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