Backward Integration Solution to the SDDRE

The codes show backward integration simulation on mathematical dynamical models for SDDRE controller in regulation and tracking.

The codes perform control implementation for regulation and tracking of the state-dependent differential Riccati equation (SDDRE) using a backward integration solution. The codes are related to the simulation section (Section 4) of the following article:

Saeed Rafee Nekoo, and Anibal Ollero, "Experimental backward integration for state-dependent differential Riccati equation (SDDRE): A case study on flapping-wing flying robot," Control Engineering Practice, 151, 106036, 2024.

https://doi.org/10.1016/j.conengprac.2024.106036

https://www.sciencedirect.com/science/article/pii/S0967066124001953

The notation and data of the simulation can be revisited in the above reference.