function

LinearAlgebra.quadraticFormDerivative

Time derivative of x' P x for supplied x_dot and P_dot

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`x`	`Real`	`[:]`
input	`xDerivative`	`Real`	`[size(x, 1)]`
input	`P`	`Real`	`[size(x, 1), size(x, 1)]`
input	`PDerivative`	`Real`	`[size(x, 1), size(x, 1)] = zeros(size(x, 1), size(x, 1))`
output	`valueDerivative`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function quadraticFormDerivative
  "Time derivative of x' P x for supplied x_dot and P_dot"
  input Real x[:];
  input Real xDerivative[size(x, 1)];
  input Real P[size(x, 1), size(x, 1)];
  input Real PDerivative[size(x, 1), size(x, 1)] = zeros(size(x, 1), size(x, 1));
  output Real valueDerivative;
protected
  Real symmetricP[size(x, 1), size(x, 1)];
algorithm
  symmetricP := LinearAlgebra.symmetrize(P);
  valueDerivative := 2.0 * xDerivative * (symmetricP * x)
    + x * (LinearAlgebra.symmetrize(PDerivative) * x);
end quadraticFormDerivative;