针对黎卡提方程
P
A
+
A
T
P
−
P
B
R
−
1
B
T
P
+
Q
=
0
P A + A^T P - P B R^{-1} B^T P + Q = 0
PA+ATP−PBR−1BTP+Q=0
A = [0 0; 1 0];
B = [1; 0];
Q = [0 0; 0 1];
R = 1/4;
[P,l,g] = care(A, B, Q, R)
结果
P =
0.5000 0.5000
0.5000 1.0000
l =
-1.0000 + 1.0000i
-1.0000 - 1.0000i
g =
2.0000 2.0000
针对李雅普诺夫方程
A
T
P
+
P
A
+
Q
=
0
A^T P + P A + Q = 0
ATP+PA+Q=0
A = [1 2; -3 -4];
Q = [3 1; 1 1];
X = lyap(A,Q)
结果:
X =
6.1667 -3.8333
-3.8333 3.0000
Ref: Matlab求解黎卡提方程
Ref: Matlab求解李雅普诺夫(Lyapunov)方程
Ref: lyap-MathWorks