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changeset 1002:9d405453900c

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[project @ 1994-12-26 22:01:15 by jwe]
author jwe
date Mon, 26 Dec 1994 22:01:15 +0000
parents 641c05eaed01
children 19d836fec1c8
files scripts/control/dlqe.m
diffstat 1 files changed, 2 insertions(+), 2 deletions(-) [+]
line wrap: on
line diff
--- a/scripts/control/dlqe.m
+++ b/scripts/control/dlqe.m
@@ -59,9 +59,9 @@
   else
     [k, p, e] = dlqr (a', c', g*sigw*g', sigv, g*zz);
     m = p';
-    l = (m*c'+a\g*t)/(c*m*c'+sigv);
+    l = (m*c'+a\g)/(c*m*c'+sigv);
     a = a-g*t/sigv*c;
-    sigw = sigw-t/sigv*t';
+    sigw = sigw-t/sigv;
   endif
 
   p = a\(m-g*sigw*g')/a';