MbsLqr Struct Reference

#include <mbs_lqr_struct.h>

Public Attributes
MbsSS *	ss
	copy of the state-space representation given as an argument More...
double **	Q
	symmetric gain matrix for regulation (tracking) More...
double **	R
	symmetric gain matrix for input More...
double **	N
	gain matrix for cross terms More...
MbsRiccati *	ric
	computation structure used to solve the Algebraic Riccation Equation More...
double **	K
	the gain matrix for the Linear Quadratic Regulator More...

Member Data Documentation

K

double** K

the gain matrix for the Linear Quadratic Regulator

N

double** N

gain matrix for cross terms

Q

double** Q

symmetric gain matrix for regulation (tracking)

R

double** R

symmetric gain matrix for input

ric

MbsRiccati* ric

computation structure used to solve the Algebraic Riccation Equation

ss

MbsSS* ss

copy of the state-space representation given as an argument

---

The documentation for this struct was generated from the following file:

• mbs_common/mbs_struct/mbs_lqr_struct.h