mbs_lqr_struct.h

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#ifndef MBS_LQR_STRUCT_h
#define MBS_LQR_STRUCT_h
 
 
#include "mbs_statespace_struct.h"
#include "riccati.h"
 
typedef struct MbsLqr   // computation structure necessary for MBS equation linearization through lpk method
{
 
    MbsSS *ss;    
 
    double **Q; 
    double **R; 
    double **N; 
 
    MbsRiccati *ric; 
 
    double **K; 
 
 
} MbsLqr;
 
 
typedef struct LqrAss   // computation structure necessary for MBS equation linearization through lpk method
{
    int nx;
    int nu;
    int ny;
    double **A;
    double **B;
    double **C;
 
}LqrAss;
 
 
 
#endif