PO-for-LQ-cost

Content

• methods.py Contains the StabilizingGainManifold class, which acts as a container for various methods for calculus on the space of stabilizing gain matrices for a given controllable (A,B) matrix pair

• LQR_PO_gradient_descent.py Implementation of ordinary gradient descent on the LQR cost

• christoffel_symbols_study.py Calculation of the sectional curvature of the stabilizing gain Riemannian manifold, among other quantities involving the Christoffel symbols.