[AMR] Finish first rework

2026-07-27 21:29:09 +02:00 · 2026-06-17 15:27:18 +02:00
parent 5bf9d9a022
commit b5c5d2ccb1
6 changed files with 8 additions and 7 deletions
@@ -7,7 +7,7 @@ We try to minimise cost functional (for $\vec{u}(t) = -\mat{K}\vec{x}(t)$)
 \]
 Solution: $\mat{K} = \mat{R}^{-1} (\mat{G}_c^\top \mat{P})$, with $\mat{P}$ found from
 \[
-    \mat{F}_c^\top \mat{P} + \mat{PF}_c - (\mat{PG}_c) \mat{R}^{-1} + \mat{Q} = \mat{0}
+    \mat{F}_c^\top \mat{P} + \mat{PF}_c - (\mat{PG}_c) \mat{R}^{-1} (\mat{G}_c^\top \mat{P}) + \mat{Q} = \mat{0}
 \]
 Finding $\mat{K}$ is expensive, but \textit{offline}, at runtime only $\vec{u}(t)$.