Continuous time filter Riccati equation
[Z, H] = gfare(Sl)
a continuous time linear dynamical system in state-space representation
symmetric matrix
real matrix
Generalized Filter Algebraic Riccati Equation (GFARE).
Z = solution, H = gain.
The GFARE for Sl=[A,B,C,D] is:
(A-B*D'*Ri*C)*Z+Z*(A-B*D'*Ri*C)'-Z*C'*Ri*C*Z+B*Si*B'=0 |  |  |
where S=(eye()+D'*D), Si=inv(S), R=(eye()+D*D'), Ri=inv(R)
and H=-(B*D'+Z*C')*Ri is such that A+H*C 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 |