Continuous time control Riccati equation
[X, F] = gcare(Sl)
a continuous time linear dynamical system in state-space representation
symmetric matrix
real matrix
Generalized Control Algebraic Riccati Equation (GCARE).
X = solution , F = gain.
The GCARE for Sl=[A,B,C,D] is:
(A-B*Si*D'*C)'*X+X*(A-B*Si*D'*C)-X*B*Si*B'*X+C'*Ri*C=0 |  |  |
where S=(eye()+D'*D), Si=inv(S), R=(eye()+D*D'), Ri=inv(R)
and F=-Si*(D'*C+B'*X) is such that A+B*F is stable.
| Version | Description |
| 5.4.0 | Sl is now checked for
continuous time linear dynamical system. This modification
has been introduced by this commit |