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Add an infinite-horizon LQR controller #81
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controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestlinalgVectors, matrices, decompositionsVectors, matrices, decompositionsno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc core
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controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestlinalgVectors, matrices, decompositionsVectors, matrices, decompositionsno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc core
Add an infinite-horizon LQR that solves the discrete algebraic Riccati equation by structured doubling, with an iteration budget and a residual check.
Done when: the closed loop is stable on test systems.
Depends on #20 #63