removing poles and zeros at infinity
[Stmp, Ws] = colregul(Sl, alfa, beta)
syslin
lists
reals (new pole and zero positions)
computes a prefilter Ws
such that Stmp=Sl*Ws
is proper and
with full rank D
matrix.
Poles at infinity of Sl
are moved to alfa
;
Zeros at infinity of Sl
are moved to beta
;
Sl
is assumed to be a left invertible linear system (syslin
list)
in state-space representation with possibly a polynomial D
matrix.