lyapunov.hpp

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// toolboxes/control/include/nk/control/lyapunov/lyapunov.hpp
//
// Continuous and discrete Lyapunov equations.
//
//   lyap (A, Q): A·X + X·Aᵀ + Q = 0
//   dlyap(A, Q): A·X·Aᵀ − X + Q = 0
//
// We solve the n²×n² vectorised system directly — fine for the
// state dims that show up in textbook control problems (n ≤ 32).
 
#pragma once
 
#include <memory_resource>
#include <nk/value/value.hpp>
 
namespace nk::control {

 

Value lyap(const Value &A, const Value &Q,
           std::pmr::memory_resource *mr = nullptr);

Value dlyap(const Value &A, const Value &Q,
            std::pmr::memory_resource *mr = nullptr);
 

} // namespace nk::control