Robotran C Documentation
Functions
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

MbsLqrmbs_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