From: <par...@us...> - 2010-09-09 06:17:25
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Revision: 7690 http://octave.svn.sourceforge.net/octave/?rev=7690&view=rev Author: paramaniac Date: 2010-09-09 06:17:17 +0000 (Thu, 09 Sep 2010) Log Message: ----------- control: enhance doc Modified Paths: -------------- trunk/octave-forge/main/control/inst/dlqr.m trunk/octave-forge/main/control/inst/lqr.m Modified: trunk/octave-forge/main/control/inst/dlqr.m =================================================================== --- trunk/octave-forge/main/control/inst/dlqr.m 2010-09-08 23:48:31 UTC (rev 7689) +++ trunk/octave-forge/main/control/inst/dlqr.m 2010-09-09 06:17:17 UTC (rev 7690) @@ -33,7 +33,7 @@ ## @item q ## State weighting matrix. ## @item r -## Control weighting matrix. +## Input weighting matrix. ## @item s ## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed. ## @end table @@ -52,9 +52,9 @@ ## @group ## x[k+1] = A x[k] + B u[k], x[0] = x0 ## -## /inf -## J(x0) = | (x' Q x + u' R u + 2 x' S u) dt -## /0 +## inf +## J(x0) = SUM (x' Q x + u' R u + 2 x' S u) +## k=0 ## ## L = eig (A - B*G) ## @end group Modified: trunk/octave-forge/main/control/inst/lqr.m =================================================================== --- trunk/octave-forge/main/control/inst/lqr.m 2010-09-08 23:48:31 UTC (rev 7689) +++ trunk/octave-forge/main/control/inst/lqr.m 2010-09-09 06:17:17 UTC (rev 7690) @@ -33,7 +33,7 @@ ## @item q ## State weighting matrix. ## @item r -## Control weighting matrix. +## Input weighting matrix. ## @item s ## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed. ## @end table @@ -53,9 +53,9 @@ ## . ## x = A x + B u, x(0) = x0 ## -## /inf -## J(x0) = | (x' Q x + u' R u + 2 x' S u) dt -## /0 +## inf +## J(x0) = INT (x' Q x + u' R u + 2 x' S u) dt +## 0 ## ## L = eig (A - B*G) ## @end group This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |