DiscreteLQRegulatorGains

DiscreteLQRegulatorGains[ssm,{q,r},τ]
gives the optimal discrete-time state feedback gain matrix with sampling period τ for the continuous-time StateSpaceModel ssm and the quadratic cost function, with state and control weighting matrices q and r.

DiscreteLQRegulatorGains[ssm,{q,r,p},τ]
includes the state-control cross-coupling matrix p in the cost function.

DiscreteLQRegulatorGains[{ssm,finputs},{},τ]
specifies the feedback inputs of ssm.

Details and OptionsDetails and Options

  • The standard state-space model ssm can be given as StateSpaceModel[{a,b,}], where a and b represent the state and input matrices in the continuous-time system .
  • The descriptor continuous-time state-space model ssm defined by can be given as StateSpaceModel[{a,b,c,d,e}].
  • The argument finputs is a list of integers specifying the positions of the feedback inputs in .
  • DiscreteLQRegulatorGains[ssm,{},τ] is equivalent to DiscreteLQRegulatorGains[{ssm,All},{},τ].
  • The cost function is given by .
  • In DiscreteLQRegulatorGains[ssm,{q,r},τ], the cross-coupling matrix is assumed to be zero.
  • DiscreteLQRegulatorGains computes the regulator gains based on the emulated system with cost function .
  • The matrix is the submatrix of associated with the feedback inputs .
  • The emulated closed-loop system with the computed feedback gain matrix k can be obtained from SystemsModelStateFeedbackConnect[ToDiscreteTimeModel[ssm,τ,Method->"ZeroOrderHold"],k]
Introduced in 2010
(8.0)
| Updated in 2012
(9.0)