PGains:

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   Compute the principal gains for a system.
       
   Compute the principal gains for a system of the form
       +
   ----- O ----- K - G ----- O ----
       - |                   |
         |                   |
          -------------------
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   Form:
   PGains( g, k, w )
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   ------
   Inputs
   ------
   g                   Plant model of type statespace
   k                   Controller structure of type statespace
   w                   Frequency vector

   -------
   Outputs
   -------
   None

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   References:   Maciejowski, J.M. (1989). Multivariable Feedback Design.
                 Addison-Wesley, Reading, MA, 76-91.
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Children:

Common: Control/Series
Common: Control/WPZ
Common: Graphics/Plot2D