WLQR problem

Entries below show the results of solver, you can edit the problem by 'Edit problem' link.

  • wlqr_F is the feedback gain.
  • wlqr_CL_POLES are the closed loop poles.
  • A+BF is the closed loop state matrix.
wlqr_A
0.9963 0.0006 0.0004 -0.0099 0.0000 0.0000 0;
-0.0015 1.0000 0.0098 0.0001 -0.0000 0.0000 0;
-0.3001 -0.0001 0.9638 0.0080 -0.0065 0.0012 0;
0.0851 0.0000 -0.0002 0.9948 -0.0003 -0.0006 0;
0 0 0 0 0.8171 0 0;
0 0 0 0 0 0.8171 0;
0.0243 0.0000 -0.0001 0.5687 -0.0001 -0.0002 0.9900;
wlqr_B
0.0000 0.0000;
-0.0000 0.0000;
-0.0007 0.0001;
-0.0000 -0.0001;
0.1829 0;
0 0.1829;
-0.0000 -0.0000;
wlqr_C
0 0 0 57.2958 0 0 -1.0000;
0 0 57.2958 0 0 0 0;
57.2958 0 0 0 0 0 0;
0 57.2958 0 0 0 0 0;
wlqr_R
0.1 0;
0 0.1;
wlqr_Dq
0 0 0 0;
0 0 0 0;
0 0 0 0;
0 0 0 0;
wlqr_Aq
0.9;
wlqr_Bq
0.1 0.1 0.1 0.1;
wlqr_Cq
1.0;
1.0;
1.0;
1.0;
wlqr_F
763.242078 370.247521 139.913728 143.988686 -1.821856 0.172951 13.543724 ;
-50.074958 -23.869721 -8.818488 -6.956483 0.128565 -0.019515 -0.906589 ;
wlqr_CL_POLES
0.687626+0.316088j
0.687626-0.316088j
0.817048
0.994563+0.030733j
0.994563-0.030733j
0.989180
0.973582
wlqr_CL_DEN
1.000000 -6.144187 16.217438 -23.871861 21.199107 -11.377644 3.423352 -0.446203 ;
wlqr_CL_NUM
0.000000 0.000000 -0.003288 0.015453 -0.029062 0.027340 -0.012868 0.002425 ;
0.000000 -0.040107 0.157117 -0.199263 0.027749 0.142757 -0.116648 0.028396 ;
0.000000 0.000000 -0.000016 0.000079 -0.000153 0.000146 -0.000068 0.000013 ;
0.000000 0.000000 -0.000393 0.001146 -0.000805 -0.000536 0.000866 -0.000279 ;
0.000000 -0.005730 0.023330 -0.036820 0.026908 -0.007207 -0.001303 0.000821 ;
0.000000 0.005730 -0.018426 0.012926 0.019570 -0.037937 0.023210 -0.005074 ;
0.000000 0.000000 0.000059 -0.000179 0.000188 -0.000066 -0.000013 0.000010 ;
0.000000 0.000000 0.000056 -0.000123 0.000001 0.000195 -0.000178 0.000050 ;
sof_OL_DEN
1.000000 -6.579100 18.529966 -28.960799 27.125607 -15.225191 4.741524 -0.632008 ;
sof_OL_NUM
0.000000 0.000000 -0.003118 0.014906 -0.028474 0.027158 -0.012932 0.002459 ;
0.000000 -0.040107 0.157097 -0.199308 0.028046 0.142325 -0.116403 0.028349 ;
0.000000 0.000000 -0.000016 0.000078 -0.000150 0.000144 -0.000069 0.000013 ;
0.000000 0.000000 -0.000393 0.001146 -0.000806 -0.000533 0.000864 -0.000278 ;
0.000000 -0.005730 0.025800 -0.044731 0.035456 -0.010042 -0.001983 0.001230 ;
0.000000 0.005730 -0.019644 0.014965 0.022010 -0.045329 0.028609 -0.006341 ;
0.000000 0.000000 0.000059 -0.000204 0.000242 -0.000095 -0.000018 0.000015 ;
0.000000 0.000000 0.000056 -0.000134 0.000008 0.000227 -0.000218 0.000062 ;
wlqr_LINK
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