Contents

 QCAT - Quadratic Programming Control Allocation Toolbox
 Version 1.2.1 25-Aug-2004

 Author:    Ola Härkegård, ola@isy.liu.se
 Download:  http://www.control.isy.liu.se/~ola/qcat
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 Information.
   qcatdoc       - Open QCAT documentation in browser.

 QP based control allocation
   sls_alloc     - Active set, sequential least squares.
   wls_alloc     - Active set, weighted least squares.
   wlsc_alloc    - C implementation of wls_alloc.
   mls_alloc     - Active set, minimal least squares.
   ip_alloc      - Interior point method.
   cgi_alloc     - Cascaded generalized inverses method.
   fxp_alloc     - Fixed-point method.
 
 Direct allocation.
   dir_alloc     - Direct control allocation.
 
 Dynamic control allocation.
   dca           - Design dynamic control allocation filter.

 Simulation.
   qp_sim        - Response of static QP allocator.
   dir_sim       - Response of direct allocator.
   dyn_sim       - Response of dynamic allocator.
   qcatlib       - Simulink blocks for QP and dynamic allocation.

 Constrained allocation vs linear control.
   lq2ca         - Extract allocator from LQ controller.
   ca2lq         - Merge allocator with LQ controller.
   vview         - View feasible virtual control set.
   vview_demo    - Demo of vview.

 Other.
   iscoplanar    - Test for coplanar controls.
   wpinv         - Weighted pseudoinverse.

 Data files.
   admiredata    - Admire test data.
   f18data       - F-18 based test data.