h_cl - closed loop matrix
Given the standard plant P (with r=size(P22) ) and the controller K , this function returns the closed loop matrix Acl .
The poles of Acl must be stable for the internal stability of the closed loop system.
Acl is the A -matrix of the linear system [I -P22;-K I]^-1 i.e. the A -matrix of lft(P,r,K)
lft ,
F. D.