--- a/main/control/devel/dlqe.m	Sat May 19 08:39:04 2012 +0000
+++ b/main/control/devel/dlqe.m	Sat May 19 22:15:57 2012 +0000
@@ -1,3 +1,77 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
+## Linear-quadratic regulator.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## Continuous or discrete-time LTI model.
+## @item a
+## State transition matrix of continuous-time system.
+## @item b
+## Input matrix of continuous-time system.
+## @item q
+## State weighting matrix.
+## @item r
+## Input weighting matrix.
+## @item s
+## Optional cross term matrix.  If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix.  If @var{e} is not specified, an identity matrix is assumed.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item g
+## State feedback matrix.
+## @item x
+## Unique stabilizing solution of the continuous-time Riccati equation.
+## @item l
+## Closed-loop poles.
+## @end table
+##
+## @strong{Equations}
+## @example
+## @group
+## .
+## x = A x + B u,   x(0) = x0
+##
+##         inf
+## J(x0) = INT (x' Q x  +  u' R u  +  2 x' S u)  dt
+##          0
+##
+## L = eig (A - B*G)
+## @end group
+## @end example
+## @seealso{care, dare, dlqr}
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
+## Created: April 2012
+## Version: 0.1
+
 function [l, p, z, e] = dlqe (a, g, c, q, r, s = [])
 
   if (nargin < 5 || nargin > 6)
@@ -19,4 +93,4 @@
   ## z = p - p*c.' / (c*p*c.' + r) * c*p;
   z = p - l*c*p;
 
-endfunction
\ No newline at end of file
+endfunction

--- a/main/control/devel/lqe.m	Sat May 19 08:39:04 2012 +0000
+++ b/main/control/devel/lqe.m	Sat May 19 22:15:57 2012 +0000
@@ -1,3 +1,77 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{sys}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{sys}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
+## Linear-quadratic estimator.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## Continuous or discrete-time LTI model.
+## @item a
+## State transition matrix of continuous-time system.
+## @item b
+## Input matrix of continuous-time system.
+## @item q
+## State weighting matrix.
+## @item r
+## Input weighting matrix.
+## @item s
+## Optional cross term matrix.  If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix.  If @var{e} is not specified, an identity matrix is assumed.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item l
+## Observer gain matrix.
+## @item p
+## Unique stabilizing solution of the continuous-time Riccati equation.
+## @item e
+## Closed-loop poles.
+## @end table
+##
+## @strong{Equations}
+## @example
+## @group
+## .
+## x = A x + B u,   x(0) = x0
+##
+##         inf
+## J(x0) = INT (x' Q x  +  u' R u  +  2 x' S u)  dt
+##          0
+##
+## L = eig (A - B*G)
+## @end group
+## @end example
+## @seealso{care, dare, dlqr}
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
+## Created: April 2012
+## Version: 0.1
+
 function [l, p, e] = lqe (a, g, c, q = [], r = [], s = [])
 
   if (nargin < 3 || nargin > 6)
@@ -16,4 +90,4 @@
 
   l = l.';
 
-endfunction
\ No newline at end of file
+endfunction