Struct LqrController 

pub struct LqrController {
    pub k: Vec<f64>,
    pub n: usize,
    pub m: usize,
}

Discrete Linear Quadratic Regulator (LQR) controller.

Solves the discrete algebraic Riccati equation (DARE) iteratively and computes the optimal gain matrix K such that u = -K*x minimizes J = Σ (x’Qx + u’Ru).

Fields

k: Vec<f64>

Optimal gain matrix K (m×n), row-major.

n: usize

Number of states n.

m: usize

Number of inputs m.

Implementations

impl LqrController

pub fn solve( a: &[f64], b: &[f64], q: &[f64], r: &[f64], n: usize, m: usize, max_iter: usize, tol: f64, ) -> Option<Self>

Solve DARE and compute LQR gain.

• a — state matrix (n×n)
• b — input matrix (n×m)
• q — state cost matrix (n×n), positive semi-definite
• r — input cost matrix (m×m), positive definite
• max_iter — maximum iterations for Riccati iteration
• tol — convergence tolerance (Frobenius norm of P change)

pub fn control(&self, x: &[f64]) -> Vec<f64>

Compute control input: u = -K*x.

Trait Implementations

impl Clone for LqrController

fn clone(&self) -> LqrController

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for LqrController

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.