mbs_lqr.c File Reference

#include "mbs_message.h"
#include "mbs_lqr.h"
#include "mbs_statespace.h"
#include "useful_functions.h"
#include "mbs_linalg.h"
#include "riccati.h"

Functions
MbsLqr *	mbs_new_lqr (int nx, int nu, int ny)
	create a new lpk structure that is used to compute the linearized matrices Gr and Kr. More...
void	mbs_delete_lqr (MbsLqr *lqr)
	free memory of the lpk structure. More...
int	lqr_compute_gain (MbsSS *ss, MbsLqr *lqr)
	compute the augmented state space More...
int	lqr_compute_augmentedState (MbsSS *ss, MbsSS *ass)
	compute the augmented state space More...

Function Documentation

lqr_compute_augmentedState()

int lqr_compute_augmentedState	(	MbsSS *	ss,
		MbsSS *	ass
	)

compute the augmented state space

ss [in], the state space structure ass [in/out], the augmented state space structure

lqr_compute_gain()

int lqr_compute_gain	(	MbsSS *	ss,
		MbsLqr *	lqr
	)

compute the augmented state space

ss [in], already computed state space structure lqr [in/out], the lqr structure in which the gain matrix K is stored and computed

mbs_delete_lqr()

void mbs_delete_lqr

(

MbsLqr *

lqr

)

free memory of the lpk structure.

lqr [in], the lqr structure to delete.

mbs_new_lqr()

MbsLqr* mbs_new_lqr	(	int	nx,
		int	nu,
		int	ny
	)

create a new lpk structure that is used to compute the linearized matrices Gr and Kr.

nx [in], the number of state variable nu [in], the number of input ny [in], the number of output