Overview
| Comment: | Allow state weighting |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
b291e8d346575ffbc8feff0d59097f14 |
| User & Date: | gawthrop@users.sourceforge.net on 2005-04-20 13:50:40 |
| Other Links: | branch diff | manifest | tags |
Context
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2005-04-26
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| 13:06:08 | Tidied check-in: 9969a44b61 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2005-04-20
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| 13:50:40 | Allow state weighting check-in: b291e8d346 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2005-04-11
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| 10:25:28 | Additional argument to allow arbitary U*_0 check-in: 1206de24a5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_are.m from [36a7ac48d8] to [61fa06621b].
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return
endif
if nargin<7
A_type = "feedback";
endif
| > > > > > | > | > > > > > > | | 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 |
return
endif
if nargin<7
A_type = "feedback";
endif
[n_x,n_u,n_y] = abcddim(A,B,C,D); # Dimensions
n_q = is_square(Q); # Size of Q
if n_q==0
error("Q must be square");
endif
## Steady-state Linear Quadratic solution
## using Algebraic Riccati equation (ARE)
if n_q==n_y # Output weight
Q_x = C'*Q*C; # Weighting on x
elseif n_q==n_x # State weight
Q_x = Q;
else
error(sprintf("Q (%ix%i) must be %ix%i or %ix%i",n_q,n_q,n_y,n_y,n_x,n_x));
endif
Q_x
[k, P, poles] = lqr (A, B, Q_x, R) # Algebraic Riccati solution
## Basis functions
if strcmp(A_type,"companion")
A_u = compan(poly(poles));
elseif strcmp(A_type,"feedback")
A_u = A-B*k;
else
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