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                                            Grant Gibson

discrete_lyapunov_equation.cc bug in solution of Equation 4.2

https://github.com/RobotLocomotion/drake/blob/4b98f4375f978a02182093b6dfabdcd3d499c236/math/discrete_lyapunov_equation.cc#L180 There is a possible bug in one of the steps for computing an intermediate term xbar. The factorization of the referenced equation 4.2 is missing an identity subtraction in...

type: bug

component: mathematical program