linear_quadratic_regulator.h File Reference

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Description

A control loop that uses current states, reference states, and cost matrices to find an optimal gain matrix as an output.

This is a conventional Linear Quadratic Regulator that uses the Feedback class as an interface. It calculates the optimal gain matrix using cost matrices, the current states, and the reference states

Include dependency graph for linear_quadratic_regulator.h:

Classes
class	LinearQuadraticRegulator< STATES, INPUTS >

Functions
template<int DIM>
EMat< DIM, DIM >	cost_matrix (const EVec< DIM > &tolerances)

Function Documentation

cost_matrix()

template<int DIM>

EMat< DIM, DIM > cost_matrix

(

const EVec< DIM > &

tolerances

)

Forms a cost matrix from a set of tolerances for each variable using Bryson's Rule.

Q = 1 / tol²

Template Parameters

DIM	The dimensions of the cost matrix.

Parameters

tolerances

Vector containing the tolerances for each variable.

Returns

The cost matrix.