Changeset 744 for library/bdm/design
- Timestamp:
- 11/28/09 14:38:48 (15 years ago)
- Location:
- library/bdm/design
- Files:
-
- 2 modified
Legend:
- Unmodified
- Added
- Removed
-
library/bdm/design/arx_ctrl.h
r737 r744 124 124 lq.validate(); 125 125 126 rv = urvm; // rv is not shifted to t+1!! 126 127 rvc = concat ( xrv, urvm ); 127 128 rvc2ar_y.set_connection ( ar->_yrv(), rvc ); -
library/bdm/design/ctrlbase.cpp
r738 r744 13 13 //penalization 14 14 qux.set_submatrix ( 0, 0, Qu._Ch() ); 15 qux.set_submatrix ( 0, dimx + dimu + dimy, Qu._Ch() );15 qux.set_submatrix ( 0, dimx + dimu + dimy, -Qu._Ch() ); 16 16 17 17 qyx.set_submatrix ( 0, 0, S->_C() ); … … 57 57 58 58 void LQG::ricatti_step() { 59 pre_qr.set_submatrix ( 0, 0, s*pr );60 pre_qr.set_submatrix ( dimx + dimu + dimy, dimu + dimx, -Qy.to_mat() *y_req );59 // pre_qr.set_submatrix ( 0, 0, s*pr ); 60 // pre_qr.set_submatrix ( dimx + dimu + dimy, dimu + dimx, -Qy.to_mat() *y_req ); 61 61 if ( !qr ( pre_qr, post_qr ) ) { 62 62 bdm_warning ( "QR in LQG unstable" );