Generated on Tue Dec 28 15:15:26 2010 for Mobile-C by  doxygen 1.6.3
h(equation)i(by)1175 1384 y Fq(K)32 b Fr(=)25 b Fq(R)1450 1346 y Fm(\000)p Fp(1)1544 1384 y Fr(\()p Fq(B)1653 1346 y Fl(T)1708 1384 y Fq(S)g Fr(+)20 b Fq(N)1963 1346 y Fl(T)2018 1384 y Fr(\))-336 1814 y Fz(Example)-336 2093 y Fu(#include)43 b()-336 2276 y(#define)h(NUMX)g(2)179 b(//)44 b(number)g(of)h(the)f(state)-336 2367 y(#define)g(NUMU)g(1)179 b(//)44 b(number)g(of)h(the)f(input)-336 2458 y(#define)g(NUMY)g(1)179 b(//)44 b(number)g(of)h(the)f(output)-336 2641 y(int)g(main\(\))g({)-157 2732 y(array)g(double)g(A[NUMX][NUMX])f (=)h({{-1,)224 b(0},)1188 2824 y({0,)g(-2}},)426 2915 y(B[NUMX][NUMU])43 b(=)h({1,)h(1};)-157 3006 y(CPlot)f(plot;)-157 3098 y(array)g(double)g(k[NUMU][NUMX],)f(s[NUMX][NUMX];)-157 3189 y(array)h(double)g(complex)g(e[NUMX];)-336 3372 y(/*)-157 3463 y(array)g(double)g(Q[NUMX][NUMX],)f(R[NUMU][NUMU];)-157 3554 y(Q)i(=)g(\(array)e(double)h([NUMX][NUMX]\)1;)-157 3645 y(R)h(=)g(\(array)e(double)h([NUMU][NUMU]\)1;)-336 3737 y(*/)-157 3919 y(array)g(double)g(Q[NUMX][NUMX])f(=)h({1,)h(1,)f (1,)h(1};)-157 4011 y(array)f(double)g(R[NUMU][NUMU])f(=)h({5};)-157 4102 y(array)g(double)g(N[NUMX][NUMU])f(=)h({10,)h(20};)-157 4285 y(CControl)f(sys)g(=)h(CControl\("ss",)d(A,)j(B,)f(NULL,)g (NULL\);)-336 4376 y(//)179 b(sys.lqr\(k,)43 b(s,)i(e,)f(Q,)h(R\);)-157 4467 y(sys.lqr\(k,)e(s,)i(e,)f(Q,)h(R,)f(N\);)-336 4650 y(printf\("k)f(=)i(\045f\\ns)f(=)h(\045f\\ne)f(=)g(\045f\\n",)g(k,)h (s,)f(e\);)-157 4833 y(return)g(0;)-336 4924 y(})-336 5090 y Fy(The)23 b(output)i(is)f(sho)n(wn)f(as)h(follo)n(ws.)-336 5256 y Fu(k)45 b(=)f(0.975947)g(2.196276)-336 5439 y(s)h(=)f(-1.881182) g(-3.239082)-336 5530 y(-3.239082)f(-5.779537)-336 5713 y(e)i(=)f(complex\(-4.923478,0.000000\))d (complex\(-1.248745,0.000000\))1546 6216 y Fy(111)p eop %%Page: 112 115 112 114 bop -336 321 a Fv(CHAPTER)20 b(6.)51 b(APPENDIX)20 b(A:)j(REFERENCE)c(OF)j(MEMBER)e(FUNCTIONS)g(OF)i(CCONTR)l(OL)e(CLASS) 2939 422 y Fz(CContr)n(ol)k Fy(::)p Fz(lsim)-336 658 y(See)f(Also)-336 771 y(CContr)n(ol::dlqr)p Fy(\(\).)p -336 884 3900 6 v -336 997 a Fw(CContr)n(ol)31 b Fe(::)p Fw(lsim)-336 1223 y Fz(Synopsis)-336 1336 y Fy(int)g Fz(lsim)g Fy(\(class)h Fz(CPlot)e Fy(*)p Fq(pl)r(ot)p Fy(,)h(array)h(double)g(&)p Fq(y)s(out)p Fy(,)f(array)h(double)h(&)p Fq(tout)p Fy(,)e(array)g(double)i(&)p Fq(xout)p Fy(,)e(array)h(double) -336 1449 y(&)p Fq(u)p Fy(,)22 b(.)14 b(.)g(.)g(/*)22 b(double)j Fq(tf)10 b Fy(,)22 b(array)i(double)h Fq(x)p Fr(0[&])f Fy(*/\);)-336 1675 y Fz(Pur)o(pose)-336 1787 y Fy(Simulation)h(of)e(response)j(to)e(an)f(arbitrary)j(input)e(of)g (the)g(linear)g(systems.)-336 2013 y Fz(Retur)o(n)e(V)-8 b(alue)-336 2126 y Fy(Upon)24 b(successful)i(completion,)g(zero)e(is)f (returned.)31 b(Otherwise,)24 b(a)f(v)n(alue)i(of)e(non-zero)j(is)d (returned.)-336 2352 y Fz(P)o(arameters)-336 2477 y Fq(pl)r(ot)45 b Fy(Pointer)24 b(to)g(an)f(e)o(xisting)j(object)f(of)e(class)h Fz(CPlot)f Fy(.)-336 2665 y Fq(y)s(out)45 b Fy(Array)24 b(of)f(reference)j(containing)h(the)d(output)h(response)g(sequence.) -336 2853 y Fq(tout)45 b Fy(Array)24 b(of)f(reference)j(containing)h (the)d(time)f(v)o(ector)h(used)h(for)f(simulation.)-336 3040 y Fq(xout)45 b Fy(Array)24 b(of)g(reference)h(containing)i(the)d (state)g(trajectories.)-336 3228 y Fq(u)45 b Fy(Array)24 b(of)g(reference)h(containing)i(input)e(sequence.)-336 3416 y Fz(.)14 b(.)g(.)58 b Fy(The)23 b(follo)n(wing)i(ar)n(guments)g (are)f(optional.)-336 3603 y Fq(tf)55 b Fy(Double)24 b(v)n(alue)g(specifying)j(the)d(\002na0 configure:7225: result: yes configure:7241: checking whether asprintf is declared configure:7265: ccache gcc -c -isystem/home/nestinge/gumstix/gumstix-oe/tmp/staging/i686-linux/include -Os -isystem/home/nestinge/gumstix/gumstix-oe/tmp/staging/i686-linux/include conftest.c >&5 conftest.c: In function 'main': conftest.c:155: error: 'asprintf' undeclared (first use in this function) conftest.c:155: error: (Each undeclared identifier is reported only once conftest.c:155: error: for each function it appears in.) configure:7271: $? = 1 configure: failed program was: | /* confdefs.h. */ | | #define PACKAGE_NAME "" | #define PACKAGE_TARNAME "" | #define PACKAGE_VERSION "" | #define PACKAGE_STRING "" | #define PACKAGE_BUGREPORT "" | #define HAVE_SYS_FILE_H 1 | #define HAVE_SYS_PARAM_H 1 | #define HAVE_LIMITS_H 1 | #define HAVE_STDLIB_H 1 | #define HAVE_MALLOC_H 1 | #define HAVE_STRING_H 1 | #define HAVE_UNISTD_H 1 | #define HAVE_STRINGS_H 1 | #define HAVE_SYS_TIME_H 1 | #define HAVE_TIME_H 1 | #define HAVE_SYS_RESOURCE_H 1 | #define HAVE_SYS_STAT_H 1 | #define HAVE_SYS_MMAN_H 1 | #define HAVE_FCNTL_H 1 | #define HAVE_ALLOCA_H 1 | #define HAVE_SYS_SYSINFO_H 1 | #define HAVE_SYS_SYSCTL_H 1 | #define HAVE_STDINT_H 1 | #define HAVE_STDIO_EXT_H 1 | #define HAVE_SYS_WAIT_H 1 | #define TIME_WITH_SYS_TIME 1 | #define STDC_HEADERS 1 | #define HAVE_SYS_TYPES_H 1 | #define HAVE_SYS_STAT_H 1 | #define HAVE_STDLIB_H 1 | #define HAVE_STRING_H 1 | #define HAVE_MEMORY_H 1 | #define HAVE_STRINGS_H 1 | #define HAVE_INTTYPES_H 1 | #define HAVE_STDINT_H 1 | #define HAVE_UNISTD_H 1 | #define SIZEOF_INT 4 | #define UNSIGNED_64BIT_TYPE uint64_t | #define HAVE_UINTPTR_T 1 | #define HAVE_ASPRINTF 1 | #define HAVE_ATEXIT 1 | #define HAVE_BASENAME 1 | #define HAVE_BCMP 1 | #define HAVE_BCOPY 1 | #define HAVE_BSEARCH 1 | #define HAVE_BZERO 1 | #define HAVE_CALLOC 1 | #define HAVE_CLOCK 1 | #define HAVE_FFS 1 | #define HAVE_GETCWD 1 | #define HAVE_GETPAGESIZE 1 | #define HAVE_GETTIMEOFDAY 1 | #define HAVE_INDEX 1 | #define HAVE_INSQUE 1 | #define HAVE_MEMCHR 1 | #define HAVE_MEMCMP 1 | #define HAVE_MEMCPY 1 | #define HAVE_MEMMOVE 1 | #define HAVE_MEMPCPY 1 | #define HAVE_MEMSET 1 | #define HAVE_PUTENV 1 | #define HAVE_RANDOM 1 | #define HAVE_RENAME 1 | #define HAVE_RINDEX 1 | #define HAVE_SETENV 1 | #define HAVE_SNPRINTF 1 | #define HAVE_SIGSETMASK 1 | #define HAVE_STPCPY 1 | #define HAVE_STPNCPY 1 | #define HAVE_STRCASECMP 1 | #define HAVE_STRCHR 1 | #define HAVE_STRDUP 1 | #define HAVE_STRNCASECMP 1 | #define HAVE_STRNDUP 1 | #define HAVE_STRRCHR 1 | #define HAVE_STRSTR 1 | #define HAVE_STRTOD 1 | #define HAVE_STRTOL 1 | #define HAVE_STRTOUL 1 | #define HAVE_STRVERSCMP 1 | #define HAVE_TMPNAM 1 | #define HAVE_VASPRINTF 1 | #define HAVE_VFPRINTF 1 | #define HAVE_VPRINTF 1 | #define HAVE_VSNPRINTF 1 | #define HAVE_VSPRINTF 1 | #define HAVE_WAITPID 1 | #define STACK_DIRECTION -1 | #define HAVE_UNISTD_H 1 | #define HAVE_FORK 1 | #define HAVE_VFORK 1 | #define HAVE_WORKING_VFORK 1 | #define HAVE_WORKING_FORK 1 | #define HAVE_SYS_ERRLIST 1 | #define HAVE_SYS_NERR 1 | #define HAVE_SYS_SIGLIST 1 | #define HAVE_GETRUSAGE 1 | #define HAVE_ON_EXIT 1 | #define HAVE_PSIGNAL 1 | #define HAVE_STRERROR 1 | #define HAVE_STRSIGNAL 1 | #define HAVE_SYSCONF 1 | #define HAVE_TIMES 1 | #define HAVE_SBRK 1 | #define HAVE_GETTIMEOFDAY 1 | #define HAVE_REALPATH 1 | #define HAVE_CANONICALIZE_FILE_NAME 1 | #define HAVE_SYSCTL 1 | #define HAVE_WAIT3 1 | #define HAVE_WAIT4 1 | #define HAVE___FSETLOCKING 1 | #define HAVE_DECL_BASENAME 0 | #define HAVE_DECL_FFS 1 | /* end confdefs.h. */ | #include | #if HAVE_SYS_TYPES_H | # include | #endif | #if HAVE_SYS_STAT_H | # include | #endif | #if STDC_HEADERS | # include | # include | #else | # if HAVE_STDLIB_H | # include | # endif | #endif | #if HAVE_STRING_H | # if !STDC_HEADERS && HAVE_MEMORY_H | # include | # endif | # include | #endif | #if HAVE_STRINGS_H | # include | #endif | #if HAVE_INTTYPES_H | # include | #else@@@J*@@@"AAAnAAAowBBB sBBBwCCCHVCCCoDDDp{DDDyEEE{iEEEclFFFoFFF vwGGGvGGG%o7>HHH0>HHHhIII;IIIi(`*JJJ*JJJ*KKKM[*KKK]Y*LLL^ *LLLR*MMM+K*MMMMo*NNNA*NNN8 *OOO*OOOx*PPP* *PPP3?*QQQ':QQQ`/2RRRy RRRzSSSBkcSSS}VTTT} TTT}UUU}UUU} VVVx\VVV pYWWW5]WWWtrXXX3xXXX2wYYY| YYYzLZZZ{ZZZq<[[[d[[[f  \\\Te\\\R%]]]g9]]]I[F^^^c^^^z___F___U ```n+```nzaaaKW'aaa1 bbbGjzbbbzdccclccc ddd|dddz>eeeEt>eeeyfffi(fffk-4ggg%gggAzhhh\Fhhh\\iiiyiiihO3jjjojjj`!kkkhkkkTb lllqQlllimmm=pmmm snnntnnndooogoooni-ppp? 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