BalReal:

-------------------------------------------------------------------------------
   Compute the balanced realization of a, b, c, d
-------------------------------------------------------------------------------
   Form:
   [a, b, c, d, t, g, err] = BalReal( a, b, c, d )
-------------------------------------------------------------------------------

   ------
   Inputs
   ------
   a                   State matrix
   b                   Input matrix
   c                   Output matrix
   d                   Feedthrough matrix

   -------
   Outputs
   -------
   a                   State matrix
   b                   Input matrix
   c                   Output matrix
   d                   Feedthrough matrix
   t                   Transformation matrix
   g                   The observability and controllability grammiam
   err                 Error

-------------------------------------------------------------------------------

Children:

Common: Control/CGram
Common: Control/OGram
Common: Control/SizeABCD