DQCR:
-------------------------------------------------------------------------------
Create a regulator of the form
u = -Kx minimizing the cost functional
J = †(1/2){u'ru + x'qx + u'nx + x'nu}dt.
Given the constraint:
x(k+1) = a x(k) + b u(k)
-------------------------------------------------------------------------------
Form:
k = DQCR( a, b, q, r, n )
-------------------------------------------------------------------------------
------
Inputs
------
a Plant matrix
b Input matrix
q State cost matrix
r Input cost matrix
n State/input cost cross-coupling matrix
-------
Outputs
-------
k Optimal gain
-------------------------------------------------------------------------------
Children:
Common: Control/DRiccati