From 03c5ec9f5b5082e174d48dc396790f044b48cbb1 Mon Sep 17 00:00:00 2001
From: Johan Gronqvist <johan.gronqvist@control.lth.se>
Date: Sat, 10 Jun 2023 12:03:25 +0000
Subject: [PATCH] Add shift to gradient function
---
src/IQC.jl | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/IQC.jl b/src/IQC.jl
index cbd690e..54f8b54 100644
--- a/src/IQC.jl
+++ b/src/IQC.jl
@@ -5224,13 +5224,13 @@ end
# %%
-function gradient(sys :: DynamicSystem, k; margin = 1e-3)
+function gradient(sys :: DynamicSystem, k; λ = 0.0, margin = 1e-3)
eigen = LinearAlgebra.eigen
I = LinearAlgebra.I
(; A, B, C, Pi) = generate_feasibility_problem_for_KYP(sys)
- (success, P) = solve!(sys, margin = margin, req_PSD_P=true, silent=true)
+ (success, P) = solve!(sys, λ = λ, margin = margin, req_PSD_P=true, silent=true)
lhs = [ A'*P+P*A P*B; B'*P 0.0*I ] + Pi + margin*I
--
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