mbsysc/MBsysC/riccati_8h_source.html

//---------------------------

// UCL-CEREM-MBS

//

// @version MBsysLab_s 1.7.a

//

// Creation : 2006

// Last update : 01/10/2008

//---------------------------


#ifndef mbs_riccati_h

#define mbs_riccati_h

/*--------------------*/


typedef struct MbsRiccati

{

    // Note that the Riccati Equation is written:

    //   At*X + X*A  - X BRm1Bt X + Q = 0


    double **A;

    double **Q;

    double **BRm1Bt;

    double **H;


    int n;


    double **X;

    double **res;

    double **T_colmaj;

    double **Z_colmaj;

    double **Z;

    double **Z11;

    double **Z11m1;

    double **Z21;

    double *WR;

    double *WI;


}MbsRiccati;


int mbs_solve_riccati(MbsRiccati *ric);

int mbs_schurFactorization(double **A_colmaj, int n, double *WR, double *WI, double **Z_colmaj);

int mbs_invLU_0(double **A, double **Am1, int n);


MbsRiccati* mbs_new_riccati(int n);


void mbs_delete_riccati(MbsRiccati *ric);


#endif