National Instruments 370757C-01 Manual De Usuario
Chapter 4
Controller Synthesis
© National Instruments Corporation
4-13
Figure 4-6. Perfplots for H
zv
singriccati( )
[P, solstat] = singriccati(A,Q,R {method})
The
singriccati( )
function solves the Indefinite Algebraic Riccati
Equation (ARE):
The ARE is solved by decomposing the Hamiltonian:
The required decomposition of the Hamiltonian can be achieved using
method="eig"
or
method="schur"
. The Schur decomposition is
slower, but might handle some ill-conditioned problems. After solving the
ARE,
ARE,
singriccati( )
calculates the residue (A
T
P + PA – PRP + Q).
A warning is displayed if the residue is large. For an example of this
function, refer to the Xmath Help.
function, refer to the Xmath Help.
A
′
P PA PRP
–
Q
+
+
0
=
A
R
–
Q
–
A
′
–