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

0.5 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;

wlqr_B

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

wlqr_C

1 0 0 1;
1 0 1 1;

wlqr_R

0.1 0;
0 0.1;

wlqr_Dq

1 0;
0 1;

wlqr_Aq

0.8187;

wlqr_Bq

-0.018036 -0.018036;

wlqr_Cq

10.0;
10.0;

wlqr_F

-0.360950 0.043441 -0.269067 -0.878744 ;
-0.021678 0.062483 -0.190688 -0.075602 ;

wlqr_CL_POLES

0.278761
-0.259232
-0.369626+0.068700j
-0.369626-0.068700j

wlqr_CL_DEN

1.000000 0.719724 0.054643 -0.056181 -0.010214 ;

wlqr_CL_NUM

0.000000 0.000000 0.600000 0.443510 0.082473 ;
0.000000 0.000000 0.610000 0.441278 0.083937 ;
0.000000 0.000000 0.000000 0.036065 0.008754 ;
0.000000 0.000000 0.100000 0.034720 0.001479 ;

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 ;

wlqr_LINK

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