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Author: gabrielfrasantos

doc/controllers/IntegralStateFeedbackLqi.md

@@ -51,10 +51,10 @@ At equilibrium $r - y = 0$, so $x_{i}$ stops changing, and the control law holds
 
 ## Complexity Analysis
 
-| Case   | Time                         | Space                        | Notes                              |
-|--------|------------------------------|------------------------------|------------------------------------|
-| Design | $O((n+p)^3)$                 | $O((n+p)^2)$                 | DARE iteration on augmented system |
-| Update | $O(m(n+p))$                  | $O(p)$                       | Two matrix-vector products         |
+| Case   | Time         | Space        | Notes                              |
+|--------|--------------|--------------|------------------------------------|
+| Design | $O((n+p)^3)$ | $O((n+p)^2)$ | DARE iteration on augmented system |
+| Update | $O(m(n+p))$  | $O(p)$       | Two matrix-vector products         |
 
 Design is a one-time offline computation. The per-sample update cost is dominated by the two
 gain-state products and the integral accumulation.

numerical/controllers/implementations/IntegralStateFeedbackLqi.hpp

@@ -87,11 +87,11 @@ namespace controllers
 
     template<typename T, std::size_t StateSize, std::size_t InputSize, std::size_t OutputSize>
     OPTIMIZE_FOR_SPEED
-    typename IntegralStateFeedbackLqi<T, StateSize, InputSize, OutputSize>::InputVector
-    IntegralStateFeedbackLqi<T, StateSize, InputSize, OutputSize>::ComputeControl(
-        const StateVector& x,
-        const OutputVector& reference,
-        const OutputVector& measured)
+        typename IntegralStateFeedbackLqi<T, StateSize, InputSize, OutputSize>::InputVector
+        IntegralStateFeedbackLqi<T, StateSize, InputSize, OutputSize>::ComputeControl(
+            const StateVector& x,
+            const OutputVector& reference,
+            const OutputVector& measured)
     {
         auto error = reference - measured;
         integral = integral + error * sampleTime;