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function [X,F,L]=X2d(sys) % [X,F,L]=X2d(sys) % Compute solution to the Hinfinity Full Information Riccati equation % associated with P % % X: DARE solution % F: feedback gain % L: closed-loop eigenvalues [A,B1,B2,C1,C2,D11,D12,D21,D22]=GetSS(sys); [n,p,q,l,m]=Getsz(sys); %E'XE=A'XA-(A'XB+S)(B'XB+R)^-1(A'XB+S)'+Q % %dare(A,B,Q,R,S,E) [X,L,F]=dare(A,B2,C1'*C1,D12'*D12,C1'*D12);