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Chapter 4 Controller Synthesis
© National Instruments Corporation 4-13 MATRIXx Xmath Robust Control Module
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,
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.
A
′
PPAPRP– Q++0=
AR–
Q– A
′
–