SOF problem

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

sof_K is the SOF gain.
sof_CL_POLES are the closed loop poles.
A-BKC is the closed loop state matrix.

sof_A

0.5 0 0.2 1.0;
0 -0.3 0 0.1;
0.01 0.1 -0.5 0;
0.1 0 -0.1 -1.0;

sof_B

1 0;
0 1;
0 0;
-1 0;

sof_C

1 0 0 1;
1 0 1 1;

sof_Q

1 0 0 0;
0 1 0 0;
0 0 1 0;
0 0 0 1;

sof_R

0.1 0;
0 0.1;

sof_EPS

1e-07

sof_K

0.466016 0.151395 ;
0.035993 0.012256 ;

sof_CL_POLES

0.291102
-0.790439
-0.306622
-0.494041

sof_CL_DEN

1.000000 1.300000 0.321186 -0.108590 -0.034856 ;

sof_CL_NUM

0.000000 0.000000 0.600000 0.481000 0.090035 ;
0.000000 0.000000 0.610000 0.474000 0.093140 ;
0.000000 0.000000 0.000000 0.010000 0.007916 ;
0.000000 0.000000 0.100000 0.060000 -0.015039 ;

sof_OL_DEN

1.000000 1.300000 -0.052000 -0.405600 -0.091000 ;

sof_OL_NUM

0.000000 0.000000 0.600000 0.481000 0.089300 ;
0.000000 0.000000 0.610000 0.474000 0.095300 ;
0.000000 0.000000 0.000000 0.010000 0.017000 ;
0.000000 0.000000 0.100000 0.060000 -0.043000 ;

sof_LINK

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