function care6
extends Modelica.Icons.Function;
import MatricesMSL = Modelica.Math.Matrices;
import Modelica_LinearSystems2.Math.Matrices;
input String outputFile = "";
output Real X1[30, 30] = Matrices.care(A, B, R, Q, false);
output Real X2[30, 30] = Matrices.care(A, B, R, Q, true);
output Real X3[30, 30] = [1.1314520623027671e-002, -1.6107914360228366e-004, 1.0125148710909534e-001, 1.0607123005840252e-001, 2.1391559007082854e+000, -5.3013044708812972e-003, 5.9603743184771987e-003, 1.2610227664547665e-003, -1.8717987377899620e-003, -2.2561160424941010e-003, 4.3035170075349603e-003, -2.5751944752821143e-004, 3.8311953516901812e-003, 4.0709208507935232e-002, 2.6300093602768280e-002, 2.8084085764500964e-005, 1.2633130362166875e-003, 1.6212991928128692e-005, -5.1700691175234459e+000, -4.5965796496117969e-002, -1.7055974012332117e-004, 5.2107653698599132e-001, 5.9039810386038675e-003, 2.5781927216810587e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 2.4731346392712914e-017, 3.7509607815033465e-017; -1.6107914360228366e-004, 2.4157491443241299e-003, -3.2015766997613423e-002, -8.8611325180730505e-002, 2.0141819898897190e-001, -2.9451273326253597e-002, -1.2693648726770927e-003, 1.5429066365809621e-006, -4.8199235070527200e-004, -4.2314522845959585e-004, 2.2994568213888407e-003, -1.6356714154880224e-004, 1.0219174671594854e-003, -4.1220288115707635e-003, -2.5065447083500387e-003, -1.3947453543740917e-004, -1.8676072818446309e-004, -4.8969478986915494e-006, 9.6931093362681714e-002, -7.6817208964863777e-003, -3.9910154909747358e-005, -2.8605378636211883e-002, 6.7748306797468414e-004, 3.6373384941241013e-006, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 1.3179862066559472e-017, 4.7702183721099802e-017; 1.0125148710909534e-001, -3.2015766997613423e-002, 1.6946402727294536e+000, 2.1689040043683305e+000, 1.8200749429328468e+001, 3.2026263570129376e-001, 6.1686357494969521e-002, -5.4538715472363025e-002, -7.1987587851942989e-003, 8.0444533277696517e-003, -2.0131282784866152e-002, -1.3676697979232745e-003, 2.2054914447808181e-002, 4.6415276589845278e-001, 2.9675759466017282e-001, 2.3294992311815388e-003, -9.6412126525501703e-004, -5.9261469393990914e-006, -5.0900402415947994e+001, -2.9011103537033928e-001, -7.8343817526871492e-004, 5.1720999078969827e+000, 3.0620099850064988e-002, 8.7291076709474888e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 3.8422885438084180e-017, 8.1109719439219436e-018; 1.0607123005840252e-001, -8.8611325180730505e-002, 2.1689040043683305e+000, 8.0187244581683856e+000, 1.2250257082107950e+001, 1.2191665516829480e+000, 1.1209899571371032e-001, -9.1570806309904440e-002, 3.1772422241598181e-002, 6.6417405731577728e-002, -1.6913208871441468e-001, 3.6564604001257765e-003, 4.9615568185418048e-002, 5.9318281179557975e-001, 3.7425585653330884e-001, 7.3046185971569737e-003, -6.2216264936675158e-003, 2.8678115354033595e-007, -6.8740402318687273e+001, -1.6406777542282691e-001, -3.5710832825739156e-004, 6.0879545090596761e+000, 1.6436899492756271e-002, 4.2647265039928257e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 5.7660849811843378e-018, -9.9334334076166023e-018; 2.1391559007082854e+000, 2.0141819898897190e-001, 1.8200749429328468e+001, 1.2250257082107950e+001, 5.0700363030881539e+002, -5.9599971843770927e+000, 9.7331566850286644e-001, -4.2576231507301759e-001, -4.4991051789574699e-001, -5.4208161930943799e-001, 1.0244367738498048e+000, -9.5287660783881456e-002, -2.0434385826631637e-002, 8.3767393504301388e+000, 5.4191661683840149e+000, -1.4137965544241626e-002, 1.9018898400861954e-002, -1.0729782670434202e-003, -1.1451125418349934e+003, -1.1245328874522540e+001, -4.3154498600316601e-002, 1.0587639122248761e+002, 1.2002402403132373e+000, 4.8612476643694899e-003, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 4.4542517811037866e-015, -2.5567826001282688e-015; -5.3013044708812972e-003, -2.9451273326253597e-002, 3.2026263570129376e-001, 1.2191665516829480e+000, -5.9599971843770927e+000, 4.5247717621080591e-001, 1.5087127330881068e-002, 1.3487883733422499e-002, 1.0272758284758272e-002, 2.2351016976336242e-002, -3.5118523983982554e-002, 2.5573246671023193e-003, 1.7187359698277227e-002, 7.2088636470338495e-003, 2.5630163488559038e-003, 2.0386393485413200e-003, 5.8121455254000892e-003, 1.2856549386410188e-004, 4.7078806018554138e+000, 1.5807796912499550e-001, 7.0881843306397341e-004, -1.9347778254501627e-001, -1.4042129092639431e-002, -6.0928879739184912e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -1.0716432158645074e-016, 3.8143430366120274e-016; 5.9603743184771987e-003, -1.2693648726770927e-003, 6.1686357494969521e-002, 1.1209899571371032e-001, 9.7331566850286644e-001, 1.5087127330881068e-002, 4.3725367321334032e-003, 2.4771843170698690e-003, -6.9156741696970749e-004, -4.6353024965527988e-004, 1.7669001116361019e-003, -7.7459933905512241e-005, 2.0855856066857928e-003, 2.2577974200174347e-002, 1.4472886109789182e-002, 7.6458860592387235e-005, 1.0992683470281641e-003, 1.4917372943272113e-005, -3.0274139835655745e+000, -2.5728660944654758e-002, -1.0396755297956248e-004, 2.8582929235246757e-001, 3.1688779990072472e-003, 1.4931677407201184e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 3.9951908089463261e-017, 1.5447036783328321e-016; 1.2610227664547665e-003, 1.5429066365809621e-006, -5.4538715472363025e-002, -9.1570806309904440e-002, -4.2576231507301759e-001, 1.3487883733422499e-002, 2.4771843170698690e-003, 1.8541549587043831e-002, -1.1739686379868886e-003, -1.3641288396525175e-003, 1.0899194969507028e-002, 8.8198574924541404e-005, 5.2918987571072135e-003, -8.0927646089878815e-003, -5.0062449818770571e-003, -2.8270389757516259e-005, 4.2013086672945217e-003, 5.8539010643643644e-005, 8.1015487477043502e-001, -5.7083939589918876e-003, -4.9432902344155901e-005, -1.9953589563148542e-002, 2.6225620906442674e-003, 1.8241863468107298e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -9.3920344523586209e-017, 8.5685678733633103e-017; -1.8717987377899620e-003, -4.8199235070527200e-004, -7.1987587851942989e-003, 3.1772422241598181e-002, -4.4991051789574699e-001, 1.0272758284758272e-002, -6.9156741696970749e-004, -1.1739686379868886e-003, 7.3899541882960999e-004, 9.7268447234455531e-004, -2.4726592323675760e-003, 1.0065835583547995e-004, 2.3361694150332313e-004, -5.7351498967773834e-003, -3.7682315746656566e-003, 4.8588714689092320e-005, -3.4209400054982931e-004, -3.2295703852028390e-006, 8.0942947486176953e-001, 1.0803595672628539e-002, 4.2867756407817412e-005, -8.4510736946567494e-002, -1.3635257015676774e-003, -6.1001444823862882e-006, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 1.6252774176231897e-017, 1.0721648367251547e-017; -2.2561160424941010e-003, -4.2314522845959585e-004, 8.0444533277696517e-003, 6.6417405731577728e-002, -5.4208161930943799e-001, 2.2351016976336242e-002, -4.6353024965527988e-004, -1.3641288396525175e-003, 9.7268447234455531e-004, 2.4221259678494450e-002, -3.2559523370696095e-003, -1.5119069001175210e-004, 5.7898205891273296e-003, -3.7310667060018654e-003, -2.5143955308998423e-003, 1.2797874890013814e-004, -4.7589034336605203e-004, -5.1154740454952569e-006, 9.9922335037105969e-001, 1.8663165933441611e-002, 8.8209981082483627e-005, -9.3978774590296299e-002, -2.5351467435352315e-003, -1.3965611527607245e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -2.4616766378584793e-015, 2.8690626416851757e-016; 4.3035170075349603e-003, 2.2994568213888407e-003, -2.0131282784866152e-002, -1.6913208871441468e-001, 1.0244367738498048e+000, -3.5118523983982554e-002, 1.7669001116361019e-003, 1.0899194969507028e-002, -2.4726592323675760e-003, -3.2559523370696095e-003, 2.0280733821810056e-002, -3.4855177990517517e-004, 9.5848007720599989e-004, 8.8007348982472571e-003, 5.9773999569269071e-003, -1.7933280651198050e-004, 2.1791300324801050e-003, 1.8386308223611988e-005, -1.7239431161019216e+000, -3.3695601389783121e-002, -1.4600366102304421e-004, 1.7093735038587315e-001, 4.1808192799757740e-003, 1.9896273924677094e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -1.0197508916769204e-017, 3.1404681324394296e-017; -2.5751944752821143e-004, -1.6356714154880224e-004, -1.3676697979232745e-003, 3.6564604001257765e-003, -9.5287660783881456e-002, 2.5573246671023193e-003, -7.7459933905512241e-005, 8.8198574924541404e-005, 1.0065835583547995e-004, -1.5119069001175210e-004, -3.4855177990517517e-004, 3.9954878482285753e-005, 2.0885241129553764e-005, -1.1695768688093995e-003, -7.6211234279950526e-004, 9.7432203911548479e-006, 3.9436204671319287e-005, 1.1882789523586905e-006, 1.8847885079438437e-001, 2.3234657621013289e-003, 9.3399676562331805e-006, -1.4273403003222855e-002, -1.7568117237244392e-004, -5.7159845221000377e-007, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -5.6808449112854693e-018, 1.2676825063240146e-018; 3.8311953516901812e-003, 1.0219174671594854e-003, 2.2054914447808181e-002, 4.9615568185418048e-002, -2.0434385826631637e-002, 1.7187359698277227e-002, 2.0855856066857928e-003, 5.2918987571072135e-003, 2.3361694150332313e-004, 5.7898205891273296e-003, 9.5848007720599989e-004, 2.0885241129553764e-005, 1.4496225854746241e-002, 5.2615044640261848e-003, 3.4745198594603563e-003, 9.6332964170953172e-005, 1.9653086080665492e-003, 3.4402553803178094e-005, -1.2011896200819400e-001, 4.5527324123781684e-003, 2.9933026083526343e-005, 7.4309997819240914e-002, 1.0486050969080603e-003, 6.6835817627296278e-006, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 1.3627760920868991e-016, 1.7474147279208624e-016; 4.0709208507935232e-002, -4.1220288115707635e-003, 4.6415276589845278e-001, 5.9318281179557975e-001, 8.3767393504301388e+000, 7.2088636470338495e-003, 2.2577974200174347e-002, -8.0927646089878815e-003, -5.7351498967773834e-003, -3.7310667060018654e-003, 8.8007348982472571e-003, -1.1695768688093995e-003, 5.2615044640261848e-003, 1.6918386835510865e-001, 1.0887494987664253e-001, 3.2988128364902313e-004, 1.2668579203300753e-003, 5.1112562821432639e-006, -2.0995713381307340e+001, -1.6849980717144863e-001, -5.9556245198296939e-004, 2.0331302535356479e+000, 1.8774543296634194e-002, 7.1908438162286107e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 1.1764931107964995e-017, 1.4201186666442584e-017; 2.6300093602768280e-002, -2.5065447083500387e-003, 2.9675759466017282e-001, 3.7425585653330884e-001, 5.4191661683840149e+000, 2.5630163488559038e-003, 1.4472886109789182e-002, -5.0062449818770571e-003, -3.7682315746656566e-003, -2.5143955308998423e-003, 5.9773999569269071e-003, -7.6211234279950526e-004, 3.4745198594603563e-003, 1.0887494987664253e-001, 7.0085606717242843e-002, 2.0432359900814800e-004, 8.5967995543925237e-004, 3.8552948159692070e-006, -1.3489243867616850e+001, -1.0857170263947999e-001, -3.8291689043109769e-004, 1.3104753634161017e+000, 1.2175588068605296e-002, 4.6665737216639170e-005, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -3.7395858037309767e-017, 2.7887822922726449e-017; 2.8084085764500964e-005, -1.3947453543740917e-004, 2.3294992311815388e-003, 7.3046185971569737e-003, -1.4137965544241626e-002, 2.0386393485413200e-003, 7.6458860592387235e-005, -2.8270389757516259e-005, 4.8588714689092320e-005, 1.2797874890013814e-004, -1.7933280651198050e-004, 9.7432203911548479e-006, 9.6332964170953172e-005, 3.2988128364902313e-004, 2.0432359900814800e-004, 1.1522364469447503e-005, 8.3969766582294545e-006, 3.1009973634852648e-007, 2.0258199123508978e-003, 7.7542059420616970e-004, 4.1592812007601974e-006, 1.9066906678958215e-003, -6.8655449071811678e-005, -4.0633578246446710e-007, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, 0.0000000000000000e+000, -1.0857823245749045e-018, -1.8919694970494328e-018; 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output Real ku1 = Matrices.Internal.k_care_u(A, Q, G, X1);
output Real ku2 = Matrices.Internal.k_care_u(A, Q, G, X2);
output Real ku3 = Matrices.Internal.k_care_u(A, Q, G, X3);
end care6;