root/library/bdm/design/ctrlbase.cpp @ 737

#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();
}


}