Update DK iteration and model structure

1 files changed, 4 insertions, 4 deletions

diff --git a/pbhtest.m b/pbhtest.m
index f56aa21..546bbc6 100644
--- a/pbhtest.m
+++ b/pbhtest.m
@@ -1,4 +1,4 @@
-% Do A PBH test on system. Given SYS returns:
+% Do A PBH test on system. Given a state space model SYS returns:
 %
 %  - Nr. of states
 %  - Nr. of stable states
@@ -23,9 +23,9 @@ end
 % Check system controllability / stabilizability
 Wc = ctrb(sys);
 nctrb = rank(Wc);
+nustab = 0;
 if nctrb < nx
   % Is the system at least stabilizable?
-  nustab = 0;
   for i = 1:nx
     if real(eigvals(i)) >= 0
       % PBH test
@@ -40,13 +40,13 @@ end
 % Check system observability / detectability
 Wo = obsv(sys);
 nobsv = rank(Wo);
+nudetb = 0;
 if nobsv < nx
   % is the system at least detectable?
-  nudetb = 0;
   for i = 1:nx
     if real(eigvals(i)) >= 0
       % PBH test
-      W = [sys.C; (sys.A - eigvals(i) * eye(nx))];
+      W = [(sys.A' - eigvals(i) * eye(nx)), sys.C'];
       if rank(W) < nx
         nudetb = nudetb + 1;
       end