DCGram:

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   Compute the controllability gramian for a discrete time system.
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   Form: 
   [p, err] = DCGram( a ,b )
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   ------
   Inputs
   ------
   a                   State matrix
   b                   Input matrix

   -------
   Outputs
   -------
   p                   Solution
   err                 Norm of the error

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Children:

Common: Control/SizeAB
Common: Math/DLyapG