The book "Linear Controller Design: Limits of Performance", by Boyd and Barratt, Prentice-Hall 1991, ISBN 0-13-538687-X describes the theory behind QDES. This directory contains files for qdes version 1.5. To install qdes on your system you should get the compressed tar file qdes_dist.tar.Z. Don't forget to set ftp mode to binary. - Make a new directory where you want the release to live. For example: cd a_good_place mkdir qdes cd qdes - After you get qdes_dist.tar.Z, there should be the following file in the current directory: -rw-rw-r-- 1 craig 1860803 Jul 27 12:11 qdes_dist.tar.Z - Uncompress this file by typing: uncompress qdes_dist.tar - The current directory will now look like: -rw-rw-r-- 1 craig 3686400 Jul 27 12:11 qdes_dist.tar - Use tar to extract the qdes files from qdes_dist.tar: tar xvf qdes_dist.tar This will list out the files as they are extracted. After this is done you can remove the file qdes_dist.tar. You will now have a directory tree that should look identical to the directory tree under /pub/boyd/qdes on isl.stanford.edu. The various subdirectories are: doc: qdes documentation. In particular it contains a troff source for the qdes Unix manual page and two postscript files describing the use of some supporting matlab source code. bin: qdes executables for sun3, sun4. You might have problems running these executables because of incompatibilities with the shared libraries. If so, run the qdes.static version instead (this was compiled with -Bstatic). If your machine is not a sun3 or sun4, you will need qdes executables compiled specially for your machine; please contact Stephen Boyd at boyd@isl.stanford.edu. matlab: matlab scripts for qdes, and source for mat2qdes, which is a program that reads the impulse responses in a matlab format save file and spits out ascii files for qdes to read. examples: some useful examples to demonstrate the capabilities of qdes, including: - unconstrained and constrained LQR; - unconstrained LQG; - LQG with guaranteed margins; - H infinity; - a detailed example of a "two mass" system controller design problem. - the example that appears in the 1988 TAC paper The LQR and LQG problems are described in the 1988 ACC Workshop notes. The "two-mass" problem is described in the report "Two Mass Q Design Example". To complete installation: 1. You should first do a quick test to make sure everything works: Change directory to examples/test, and type make test_sun3 or make test_sun4 This will run the program on a test example. We also suggest running the program on the other examples in the examples directory, and checking the results with the ones provided. 2. You may also want to do the following: - install the manual page by copying the nroff source doc/qdes.l to the local manual page directory on your machine, which is usually /usr/man/manl. Alternatively, type "make manpage" in the doc directory. This will use nroff to create the "catable" file doc/qdes.cat. This file could be moved into /usr/man/catl/qdes.l, or the place on your machine where the "catable" forms of the manual pages reside. - move the executables in "bin/sun3" (and/or "bin/sun4") to a more accessible directory, such as your "bin" directory or /usr/local/bin. Craig Barratt