## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
##               Auburn University.  All rights reserved.
##
## This file is part of Octave.
##
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## under the terms of the GNU General Public License as published by
## the Free Software Foundation; either version 3 of the License, or (at
## your option) any later version.
##
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## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
## General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with Octave; see the file COPYING.  If not, see
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## -*- texinfo -*-
## @deftypefn {Function File} {} h2norm (@var{sys})
## Computes the 
## @iftex
## @tex
## $ { \cal H }_2 $
## @end tex
## @end iftex
## @ifinfo
## H-2
## @end ifinfo
## norm of a system data structure (continuous time only).
##
## Reference:
## Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard} 
## @iftex
## @tex
## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
## @end tex
## @end iftex
## @ifinfo
## @cite{H-2 and H-infinity}
## @end ifinfo
## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
## @end deftypefn

## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
## Created: August 1995
## updated for system data structure by John Ingram November 1996

function h2gain = h2norm (sys)

  if (nargin != 1)
    print_usage ();
  elseif (! isstruct (sys))
    error ("Sys must be in system data structure");
  end
  dflg = is_digital (sys);

  if (! is_stable (sys))
    warning ("h2norm: unstable input system; returning Inf");
    h2gain = Inf;
  else
    ## compute gain
    [a, b, c, d] = sys2ss (sys);
    if (dflg)
      M = dlyap (a, b*b');
    else
      M = lyap (a, b*b');
    endif
    if (min (real (eig (M))) < 0)
      error ("h2norm: gramian not >= 0 (lightly damped modes?)")
    endif

    h2gain = sqrt (trace (d*d' + c*M*c'));
  endif

endfunction