用于连续时间代数Riccati方程的隐式求解器GydF4y2Ba
[GydF4y2Ba
计算独特的稳定解决方案GydF4y2BaXGydF4y2Ba
那GydF4y2BaK.GydF4y2Ba
那GydF4y2BaL.GydF4y2Ba
]=一世care(一种那B.那问:那R.那S.那E.那GGydF4y2Ba
的)GydF4y2BaXGydF4y2Ba
那S.tate-feedback gainK.GydF4y2Ba
和闭环特征值GydF4y2BaL.GydF4y2Ba
of the following continuous-time algebraic Riccati equation.
稳定的解决方案GydF4y2BaXGydF4y2Ba
把所有的特征值放在上面GydF4y2BaL.GydF4y2Ba
在左半平面。GydF4y2Ba
一种lgebraic Riccati equations play a key role in LQR/LQG control, H2- and H-infinity control, Kalman filtering, and spectral or co-prime factorizations.
[GydF4y2Ba
也返回一个结构GydF4y2BaXGydF4y2Ba
那GydF4y2BaK.GydF4y2Ba
那GydF4y2BaL.GydF4y2Ba
那GydF4y2Ba信息GydF4y2Ba
]=一世care(___GydF4y2Ba的)GydF4y2Ba信息GydF4y2Ba
其中包含有关连续时间代数Riccati方程的解决方案的附加信息。GydF4y2Ba
[GydF4y2Ba___GydF4y2Ba]=一世care(___GydF4y2Ba那GydF4y2Ba
turns off the built-in scaling and sets all entries of the scaling vectors'noscaling'
的)GydF4y2Bainfo.sx.GydF4y2Ba
和GydF4y2Bainfo.sr.GydF4y2Ba
to 1. Turning off scaling speeds up computation but can be detrimental to accuracy when一种那B.那问:那R.那S.那E.那GGydF4y2Ba
缩放不佳。GydF4y2Ba
[GydF4y2Ba___GydF4y2Ba]=一世care(___GydF4y2Ba那GydF4y2Ba
计算抗稳定解决方案GydF4y2Ba'反对'GydF4y2Ba
的)GydF4y2BaXGydF4y2Ba
that puts all eigenvaluesL.GydF4y2Ba
一世n the right half-plane.
(A-SE,B)GydF4y2Ba
必须稳定,和GydF4y2BaE.GydF4y2Ba
和GydF4y2BaR.GydF4y2Ba
must be invertible for a finite stabilizing solutionXGydF4y2Ba
to exist and be finite. While these conditions are not sufficient in general, they become sufficient when the following conditions are met:
是detectible
B.一种S.是of the invariant subspace
一世care
works with the following pencil, and computes a basis[u; v; w]GydF4y2Ba
of the invariant subspace associated with the stable or anti-stable finite eigenvalues of this pencil.
T.he data is automatically scaled to reduce the sensitivity of eigenvalues near the imaginary axis and increase separation between the stable and anti-stable invariant subspaces.
解决方案,状态反馈增益和缩放向量之间的关系GydF4y2Ba
解决方案GydF4y2BaXGydF4y2Ba
和国家反馈收益GydF4y2BaK.GydF4y2Ba
与缩放矢量有关,和GydF4y2Ba你那V.那W.GydF4y2Ba
by the following set of equations:
在哪里,GydF4y2Ba
B.一种S.是of the invariant subspace
一世care
works with the following pencil, and computes a basis[u; v; w]GydF4y2Ba
of the invariant subspace associated with the stable or anti-stable finite eigenvalues of this pencil.
是hermitian
|GydF4y2Ba一世dare
|GydF4y2Balyap
|GydF4y2Balqr
|GydF4y2Balqg
|GydF4y2Bakalman
|GydF4y2BaH2Syn.GydF4y2Ba
(强大的控制工具箱)GydF4y2Ba|GydF4y2Bahinfsyn
(强大的控制工具箱)GydF4y2Ba|GydF4y2BaSpectralfact.GydF4y2Ba
|GydF4y2BaLNCF.GydF4y2Ba
(强大的控制工具箱)GydF4y2Ba|GydF4y2BaR.ncf
(强大的控制工具箱)GydF4y2Ba