An extended set of FORTRAN basic linear algebra subprograms
ACM Transactions on Mathematical Software (TOMS)
Nonlinear control systems: an introduction (2nd ed.)
Nonlinear control systems: an introduction (2nd ed.)
Numerical integration of the differential Riccati equation and some related issues
SIAM Journal on Numerical Analysis
Using MPI: portable parallel programming with the message-passing interface
Using MPI: portable parallel programming with the message-passing interface
Computer-controlled systems (3rd ed.)
Computer-controlled systems (3rd ed.)
ScaLAPACK user's guide
LAPACK Users' guide (third ed.)
LAPACK Users' guide (third ed.)
A Natural Approach to the Numerical Integration of Riccati Differential Equations
SIAM Journal on Numerical Analysis
Solution of the matrix equation AX + XB = C [F4]
Communications of the ACM
Robot Dynamics and Control
A Proposal for a Set of Parallel Basic Linear Algebra Subprograms
A Proposal for a Set of Parallel Basic Linear Algebra Subprograms
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This paper presents a High Performance Computing Approach (HPC) to the code appeared in [1] called DRESOL, for the Numerical Integration of the Differential Riccati Equation. This equation arises in the application of quadratic optimization for motion control to the feedback control of robotic manipulators. In this paper the main changes carried out in the DRESOL package and the new block oriented subroutines for computing the Sylvester and Lyapunov equations in order to obtain a sequential HPC implementation are described. From this new sequential implementation parallel algorithms for distributed memory platforms have been also carried out.