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Timestamp:
11/28/09 14:38:48 (15 years ago)
Author:
smidl
Message:

Working unitsteps and controlloop + corresponding fixes

Files:
1 modified

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  • library/bdm/design/ctrlbase.cpp

    r738 r744  
    1313        //penalization 
    1414        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() ); 
    1616 
    1717        qyx.set_submatrix ( 0, 0, S->_C() ); 
    … …  
    5757 
    5858void 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 ); 
    6161        if ( !qr ( pre_qr, post_qr ) ) { 
    6262                bdm_warning ( "QR in LQG unstable" );