4.0 | 9 ratings Rate this file 32 downloads (last 30 days) File Size: 172.9 KB File ID: #2651

LqrSim

06 Nov 2002 (Updated 20 Jul 2009)

Code covered by the BSD License

Algebraic Riccati Equation solution in Simulink via C+Fortran

File Information
Description	This s-function solves Riccati equations in Simulink without calling the Matlab interpreter, it is FAST and usable with Real Time Workshop. Specifically, the s-function is a level-2 gateway that calls several FORTRAN routines written by Arnold and Laub in the early eighties and publicly available under the cascade sublibrary of netlib. FORTRAN code is included in the Readme file, along with further instructions on how to compile and link the s-function. Giampiero Campa, October 2002 and January 2009 Riccardo Bevilacqua & Jason Hall, NPS Spacecraft Robotics Lab, October 2008
Required Products	Simulink
MATLAB release	MATLAB 7.6 (R2008a)
Zip File Content
Other Files	contents.m, demos.m, info.xml, license.txt, readme.txt, sfcndemo_lqry.mdl, sfun_lqrysim.mexglx, sfun_lqrysim.mexw32, src/balgbk.f, src/balgen.f, src/cmprs.f, src/creg.f, src/d1nrm.f, src/daxpy.f, src/ddot.f, src/dgecom.f, src/dgefam.f, src/dgeslm.f, src/dnrm2.f, src/drot.f, src/drotg.f, src/dscal.f, src/dstslv.f, src/dsvdc.f, src/dswap.f, src/exchqz.f, src/fbgain.f, src/giv.f, src/gradbk.f, src/gradeq.f, src/hqrort.f, src/lineq.f, src/lypcnd.f, src/lypdsd.f, src/madd.f, src/mlineq.f, src/mmul.f, src/mqf.f, src/mqfa.f, src/mqfwo.f, src/mscale.f, src/msub.f, src/mula.f, src/mulb.f, src/mulwoa.f, src/newt.f, src/order.f, src/orthes.f, src/ortran.f, src/qzhesw.f, src/qzitw.f, src/qzval.f, src/reduce.f, src/resid.f, src/ricsol.f, src/rinv.f, src/rotc.f, src/rotr.f, src/save.f, src/scalbk.f, src/scaleg.f, src/sepest.f, src/sfun_lqrysim.c, src/symprd.f, src/symslv.f, src/trnata.f, src/trnatb.f, src/xty.f

Tags for This File
Everyone's Tags	adaptive, are, control, fortran, lqe, lqg, lqr, optimal, riccati, simulink
Tags I've Applied
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Comments and Ratings (9)
04 Feb 2003	Paul Nune	Hi. I´m Paul from Portugal. I´ve no words to describe your excelent work. Thank you Mr. Giampiero Campa
13 Nov 2005	samu abdu	it is very useful for non mathematicians doing research in control theory.........
16 Oct 2006	Wojtek S	Thank You Mr. Giampiero Campa . It works perfectly and saves time.
02 Feb 2007	xiaoming wang	ich grade brauche ihn, danke!!!
05 May 2007	javad heydari
23 Jul 2007	Cristian Gutiérrez	sorry, but it needs improvement.
04 Apr 2008	Majdi Belguith	How could I add this application to Matlab thanks
16 May 2008	Martins _	Works very well on Matlab 2007b or older, but does not work on 2008.
05 Jun 2008	Jason Hall	Very good in Matlab 2007b. As you code, obviously keep in mind that Q needs to be a real symmetric positive semi-definite matrix and R needs to be a real symmetric positive definite matrix. Furthermore, if R is ill-conditioned, this block will not compute the gain properly. Conversely, Matlab's LQRY function can still compute the gain matrix even with an ill-conditioned R matrix. Very good block though.

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Updates
30 Jan 2003	The fortran subfunctions have been compiled using the multithreaded library (DFORMT.LIB) and some optimization options. As a result the DLL is smaller and runs faster.
04 Apr 2003	Instructions on how to compile with The Real Time Workshop have been added.
02 Jun 2003	The file info.xml has been updated.
12 May 2005	Renamed everything lowercase
03 Jan 2006	Move it to simulink utilities.
07 Feb 2007	Changed info.xml file to avoid annoying messages within the last matlab versions.
23 Oct 2007	Recompiled mex files with matlab 7.1 so that everything works fine with newer versions requiring the .mexw32 extension. The .dll files are retained to the benefit users working with versions prior to 7.1, other users may delete them.
02 Jan 2009	This version works with MATLAB 7.6 (R2008a), uses native matrix signals, is re-mexable on every platform, and is better integrated with real time workshop (Thanks Jason & Riccardo).
06 Jan 2009	Many thanks to Jason Hall and Riccardo Bevilacqua for your excellent job in enabling native matrices inputs to the block and using the open source g77 FORTRAN compiler to create mex files and RTW binaries under both Windows and Linux.
20 Jul 2009	Fully converted to BSD License

Tag Activity for this File
Tag	Applied By	Date/Time
simulink	Giampiero Campa	22 Oct 2008 06:53:28
riccati	Giampiero Campa	22 Oct 2008 06:53:28
are	Giampiero Campa	22 Oct 2008 06:53:28
lqr	Giampiero Campa	22 Oct 2008 06:53:28
lqe	Giampiero Campa	22 Oct 2008 06:53:28
lqg	Giampiero Campa	22 Oct 2008 06:53:28
adaptive	Giampiero Campa	22 Oct 2008 06:53:28
optimal	Giampiero Campa	22 Oct 2008 06:53:28
control	Giampiero Campa	22 Oct 2008 06:53:28
fortran	Giampiero Campa	22 Oct 2008 06:53:28

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