File mttroot/mtt/lib/control/PPP/ppp_are.m artifact 374eed77eb part of check-in 29839ea8b9
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; endfunction