Artifact c8db1444830f8e65955f05d4ffbff2dcf3e1bf720f1c17cb5830ad6c7bfe318c:

• File mttroot/mtt/lib/control/PPP/ppp_are.m — part of check-in [09c187373a] at 2002-12-11 12:41:01 on branch origin/master — Solves ARE for PPP (user: gawthrop@users.sourceforge.net, size: 527) [annotate] [blame] [check-ins using] [more...]

function [P,A_u,A_w,k] = ppp_are (A,B,C,D,Q,R)

  ## usage:  [P,A_u,A_w] = ppp_are (A,B,C,D,Q,R)
  ##
  ## 


  ## Steady-state Linear Quadratic solution
  ## using Algebraic Riccati equation (ARE)
  Q_x =  C'*Q*C;			# Weighting on x
  [k, P, poles] = lqr (A, B, Q_x, R); # Algebraic Riccati solution

  ## Basis functions
  A_u = compan(poly(poles));

  ## Avoid spurious imag parts due to rounding
  A_u = real(A_u);		

  ## Setpoint basis functions
  A_w = 0;

  ## Include A_w in A_u
  A_u = ppp_aug(A_u,A_w);

endfunction