function X = lyap2(A, B, C)
%LYAP2	Lyapunov equation solution using eigenvalue decomposition. 
%	X = LYAP2(A,C) solves the special form of the Lyapunov matrix 
%	equation:
%
%		A*X + X*A' = -C
%
%	X = LYAP2(A,B,C) solves the general form of the Lyapunov matrix
%	equation:
%
%		A*X + X*B = -C
%
%	LYAP2 is faster and generally more accurate than LYAP except when 
%	A or B have repeated roots. 
%
%	See also DLYAP.

%	A.C.W. Grace  10-25-89
%	Copyright (c) 1986-93 by The MathWorks, Inc.

[ma,na] = size(A);
[mb,nb] = size(B);
if ((ma ~= na) | (mb ~= nb))
	 error('Dimensions of A and B do not agree.');
elseif ma==0,
	X = []; return, end
end

% Perform eigenvalue  decomposition on A and B 
[T,DA]=eig(A);
if nargin==3
	[mc,nc] = size(C);
	if ((mc ~= ma) | (nc ~= mb)), error('Dimensions of C do not agree'); end
	[U,DB]=eig(B);
	X=-T*(T\C*U./(DA*ones(ma,mb)+ones(ma,mb)*DB))/U;
else
% Shortcut for AX+XA'+C=0
% Note B is really C for two input arguments
	IT=inv(T);  
	DA=DA*ones(ma,ma);
	X=-T*(IT*B*IT.'./(DA+DA.'))*T.';
	C=0;
end
	
% ignore complex part if real inputs (better be small)
	if ~(any(any(imag(A))) | any(any(imag(B))) | any(any(imag(C))))
		X = real(X);
	end
