control.dlyap¶
- control.dlyap(A, Q, C=None, E=None, method=None)[source]¶
Solves the discrete-time Lyapunov equation
X = dlyap(A, Q) solves
where A and Q are square matrices of the same dimension. Further Q must be symmetric.
dlyap(A, Q, C) solves the Sylvester equation
where A and Q are square matrices.
dlyap(A, Q, None, E) solves the generalized discrete-time Lyapunov equation
where Q is a symmetric matrix and A, Q and E are square matrices of the same dimension.
- Parameters
A (2D array_like) – Input matrices for the Lyapunov or Sylvestor equation
Q (2D array_like) – Input matrices for the Lyapunov or Sylvestor equation
C (2D array_like, optional) – If present, solve the Sylvester equation
E (2D array_like, optional) – If present, solve the generalized Lyapunov equation
method (str, optional) – Set the method used for computing the result. Current methods are ‘slycot’ and ‘scipy’. If set to None (default), try ‘slycot’ first and then ‘scipy’.
- Returns
X – Solution to the Lyapunov or Sylvester equation
- Return type
2D array (or matrix)
Notes
The return type for 2D arrays depends on the default class set for state space operations. See
use_numpy_matrix()
.