Artifact 56182147a4b8dc2f33f00fba82e8111a7ae3ea8bbb3caf560b97325dd6b831d3:

• File mtt/lib/control/PPP/ppp_lin_quad.m — part of check-in [af3953deae] at 2021-03-01 11:39:42 on branch master — Cleanup repository after cvs2git conversion. (user: jeff@gridfinity.com, size: 560) [annotate] [blame] [check-ins using] [more...]
• File mttroot/mtt/lib/control/PPP/ppp_lin_quad.m — part of check-in [2179807639] at 2004-08-09 14:44:41 on branch origin/master — Compatible with Octave 2.1.57 (user: gawthrop@users.sourceforge.net, size: 560) [annotate] [blame] [check-ins using]

function [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] = \
      ppp_lin_quad (A,B,C,D,tau,Q,R,A_e)

  ## usage:[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] =
  ## ppp_lin_quad (A,B,C,D,tau,Q,R[,A_e])
  ##
  ## 

  ## Steady-state Linear Quadratic solution
  ## using Algebraic Riccati equation (ARE)

  if nargin<8
    A_e = [];
  endif
  
  [P,A_u,A_w] = ppp_are (A,B,C,D,Q,R);

  A_u = ppp_aug(A_u,A_e);

  ## PPP solution
  [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = \
      ppp_lin(A,B,C,D,A_u,A_w,tau,Q,R,P);


endfunction