LDL decomposition for control allocation

This repository provides a library free C implementation of the LDLT decomposition modified to be used with control allocation algorithms. The implementation

• does not require any math libraries,
• can handle rank-deficient matrices,
• is optimized for a low computational footprint for matrices used in control allocation.

The code specifically solves the (under-) determined equation system

$$\boldsymbol{\nu} = \mathbf{B}\mathbf{u}$$

Related Publication

If you use this code in one of your publications, please cite the related paper

S. Hafner, S. Myschik, J. Bachler, F. Holzapfel, Fast Pseudoinverse-Based Control Allocation using a Variant of the Cholesky Decomposition, Journal of Guidance, Control, and Dynamics (2025). https://doi.org/10.2514/1.G008767