Generalized solver for continuous-time algebraic Riccati equation
[X,L,report] = gcare(H,J,ns)
[X1,X2,D,L] = gcare(H,...,'factor')
[X,L,report] = gcare(H,J,ns) computes the unique stabilizing solution X of the continuous-time algebraic Riccati equation associated with a Hamiltonian pencil of the form
The optional input ns is the row size of the A matrix. Default values for J and ns correspond to E = I and R = [ ].
Optionally, gcare returns the vector L of closed-loop eigenvalues and a diagnosis report with value:
-1 if the Hamiltonian pencil has jw-axis eigenvalues
-2 if there is no finite stabilizing solution X
0 if a finite stabilizing solution X exists
This syntax does not issue any error message when X fails to exist.
[X1,X2,D,L] = gcare(H,...,'factor') returns two matrices X1, X2 and a diagonal scaling matrix D such that X = D*(X2/X1)*D. The vector L contains the closed-loop eigenvalues. All outputs are empty when the associated Hamiltonian matrix has eigenvalues on the imaginary axis.