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This module contains common control-theoretic functions or computations.


  • Solve the Continuous Algebraic Riccati Equation (CARE) iteratively.
  • Calculate the controllability matrix for the matrix pair ($A$, $B$).
  • Determine if the pair of matrices ($A$, $B$) is controllable.
  • Determine the feedback matrix $K$ from $P$, the CARE solution.
  • Determine the LQR solution feedback matrix for the given A, B, Q, and R.
  • Determine the rank of a matrix (using the SVD).
  • Determine the synchronization map of a leaderless homogeneous MAS.