Module wls 

Weighted least-squares formulation (regularised). Weighted least-squares (WLS) problem formulation.

Converts control-allocation parameters (effectiveness matrix G, pseudo-control weights Wv, actuator weights Wu) into the regularised min ‖Au − b‖² form that solve accepts. The coefficient matrix A is (NV + NU) × NU.

Functions

setup_a

Convert WLS control allocation to a least-squares problem min ‖Au − b‖².

setup_b

Compute the right-hand side b for the regularised WLS problem.