root/library/bdm/design/ctrlbase.cpp @ 723

#include "ctrlbase.h"

namespace bdm{

void LQG::set_system(shared_ptr<StateSpace<chmat> > S0){
        S = S0;
}

void LQG::set_control_parameters(const mat &Qy0, const mat &Qu0, const vec &y_req0, int horizon0){
        Qy=Qy0;
        Qu=Qu0;
        y_req=y_req0;
        horizon = horizon0;
}

void LQG::validate() {
        // set properties from S
        dimx= S->_A().rows();
        dimy= S->_C().rows();
        dimu= S->_B().cols();
        pr=zeros(dimx+dimu+dimy,  dimu+dimx+dimu+dimy);
        pr.set_submatrix(dimx, dimu+dimx, eye(dimu+dimy));
        
        //penalization
        bdm_assert ( Qy.cols() == dimy, "LQG: wrong dimensions of Qy " );
        bdm_assert ( Qu.cols() == dimu, "LQG: wrong dimensions of Qu " );
        bdm_assert ( y_req.length() == dimy, "LQG: wrong dimensions of y_req " );
        
        qux=zeros(dimu,dimx+2*dimu+dimy);     
        qyx=zeros(dimy, dimx+dimy+dimu);
        
        //
        initial_belmann();
        // parts of QR
        post_qr = zeros(pre_qr.rows(), pre_qr.cols());
        
        update_system();
}


}