Loop Transfer Recovery (gnc-autonomy/optimal-control/loop-transfer-recovery)

Use when you must run loop-transfer-recovery on the LQG loop of the two-state plant family: inflate the filter process noise weight q on the driven input channel through Qw(q) = Qw0 + q^2 B B^T, re-solve the filter Riccati equation for the error covariance and the estimator gain at every q, and compare the recovered output loop transfer function with the full-state target loop on a log-spaced frequency grid until the grid-max mismatch M(q) falls at or below the recovery tolerance. Produces the full-state target loop samples, the mismatch-versus-q recovery trace, the recovery gain q* first meeting the tolerance, the recovered filter covariance and estimator gain, and the r…