<<singular values and vectors>> [R_G,Sigma,U,V,Us,Vs]=HANKEL3(G) computes the Routh-Hankel matrix, the Hankel singular values and vectors, the Schmidt pairs of a given proper stable system G (created with either TF, ZPK, SS, or FRD).|| Output "R_G" is the Routh-Hankel matrix. || Output "Sigma" is a matrix whose elements on the diagonal are the Hankel singular values of the given system. || Output "U" is a matrix, the ith column of which is the left singular vector corresponding to the ith singular value. || Output "V" is a matrix, the ith column of which is the right singular vector corresponding to the ith singular value. || Output "Us" and "Vs" provides the Schmidt pairs. The ith elements of Us and Vs form the Schmidt pair corresponding the ith Hankel singular value.

hankel3.m

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