Package edu.wpi.first.math

Class DARE

java.lang.Object
edu.wpi.first.math.DARE
public final class DARE
extends Object

  • Method Summary

    Modifier and Type Method Description
    static <States extends Num,​ Inputs extends Num>
    Matrix<States,​States>    		 dare​(Matrix<States,​States> A, Matrix<States,​Inputs> B, Matrix<States,​States> Q, Matrix<Inputs,​Inputs> R)
    Solves the discrete algebraic Riccati equation.
    static <States extends Num,​ Inputs extends Num>
    Matrix<States,​States>    		 dare​(Matrix<States,​States> A, Matrix<States,​Inputs> B, Matrix<States,​States> Q, Matrix<Inputs,​Inputs> R, Matrix<States,​Inputs> N)
    Solves the discrete algebraic Riccati equation.
    static org.ejml.simple.SimpleMatrix dare​(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R)
    Solves the discrete algebraic Riccati equation.
    static org.ejml.simple.SimpleMatrix dare​(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R, org.ejml.simple.SimpleMatrix N)
    Solves the discrete algebraic Riccati equation.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Method Details

    • dare

      public static org.ejml.simple.SimpleMatrix dare​(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R)
      Solves the discrete algebraic Riccati equation.
      Parameters:
      A - System matrix.
      B - Input matrix.
      Q - State cost matrix.
      R - Input cost matrix.
      Returns:
      Solution of DARE.

    • dare

      public static <States extends Num,​ Inputs extends Num> Matrix<States,​States> dare​(Matrix<States,​States> A, Matrix<States,​Inputs> B, Matrix<States,​States> Q, Matrix<Inputs,​Inputs> R)
      Solves the discrete algebraic Riccati equation.
      Type Parameters:
      States - Number of states.
      Inputs - Number of inputs.
      Parameters:
      A - System matrix.
      B - Input matrix.
      Q - State cost matrix.
      R - Input cost matrix.
      Returns:
      Solution of DARE.

    • dare

      public static org.ejml.simple.SimpleMatrix dare​(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R, org.ejml.simple.SimpleMatrix N)
      Solves the discrete algebraic Riccati equation.
      Parameters:
      A - System matrix.
      B - Input matrix.
      Q - State cost matrix.
      R - Input cost matrix.
      N - State-input cross-term cost matrix.
      Returns:
      Solution of DARE.

    • dare

      public static <States extends Num,​ Inputs extends Num> Matrix<States,​States> dare​(Matrix<States,​States> A, Matrix<States,​Inputs> B, Matrix<States,​States> Q, Matrix<Inputs,​Inputs> R, Matrix<States,​Inputs> N)
      Solves the discrete algebraic Riccati equation.
      Type Parameters:
      States - Number of states.
      Inputs - Number of inputs.
      Parameters:
      A - System matrix.
      B - Input matrix.
      Q - State cost matrix.
      R - Input cost matrix.
      N - State-input cross-term cost matrix.
      Returns:
      Solution of DARE.