q
For example, let
q
q
Then
q
||
G(s)
||
2
2
=trace(
B*QB
)=trace(
CPC*
)
q
and
q
||
G(s)
||
¥
=max{
g
:
H
has an eigenvalue on j
w
-axis}
q
where
P
and
Q
are the controllability and observability
Gramians and
q
Example