nabled-control

LTI control synthesis for the nabled Physical AI stack.

nabled-control composes nabled-linalg decompositions (Sylvester, Lyapunov, eigen) into discrete-time algebraic Riccati solvers, LQR design, gramians, pole placement, and observer design—without reimplementing core linear algebra.

Install

[dependencies]
nabled-control = "0.0.11"

Key modules

1. dare: DARE residual and iterative solvers.
2. lqr: discrete-time LQR gain computation.
3. gramian: controllability and observability gramians.
4. pole: pole placement routines.
5. observer: Luenberger-style observer design.

Crate graph

• Depends on: nabled-core, nabled-linalg.
• Used by: nabled-sim, facade nabled (physical-ai).
• Independent of: nabled-sensor (estimation stays in the sensor crate).

Optional features

1. blas: enables ndarray/blas via nabled-linalg.
2. openblas-system, openblas-static, netlib-system, netlib-static, magma-system.

[dependencies]
nabled-control = { version = "0.0.11", features = ["openblas-system"] }

Example

use nabled_control::lqr::discrete_lqr;
use ndarray::arr2;

let a = arr2(&[[1.0, 0.1], [0.0, 1.0]]);
let b = arr2(&[[0.0], [0.1]]);
let q = arr2(&[[1.0, 0.0], [0.0, 1.0]]);
let r = arr2(&[[1.0]]);
let result = discrete_lqr(&a, &b, &q, &r)?;
let _gain = result.gain;

Docs

1. API docs: https://docs.rs/nabled-control
2. Workspace repo: https://github.com/MontOpsInc/nabled
3. Facade feature: nabled with physical-ai