LQRegulatorGains

LQRegulatorGains[ssm,{q,r}]

gives the optimal state feedback gain matrix for the StateSpaceModel ssm and the quadratic cost function, with state and control weighting matrices q and r.

LQRegulatorGains[ssm,{q,r,p}]

includes the state-control cross-coupling matrix p in the cost function.

LQRegulatorGains[{ssm,finputs},{…}]

specifies finputs as the feedback inputs of ssm.

Details 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 either a continuous-time or a discrete-time system:
  • continuous-time system
    discrete-time system
  • The descriptor state-space model ssm can be given as StateSpaceModel[{a,b,c,d,e}] in either continuous time or discrete time:
  • continuous-time system
    discrete-time system
  • LQRegulatorGains also accepts nonlinear systems specified by AffineStateSpaceModel and NonlinearStateSpaceModel.
  • For nonlinear systems, the operating values of state and input variables are taken into consideration, and the gains are computed based on the approximate Taylor linearization and returned as a vector.
  • The argument finputs is a list of integers specifying the positions of the feedback inputs in .
  • LQRegulatorGains[ssm,{…}] is equivalent to LQRegulatorGains[{ssm,All},{…}].
  • The cost function is:
  • continuous-time system
    discrete-time system
  • In LQRegulatorGains[ssm,{q,r}], the cross-coupling matrix p is assumed to be zero.
  • The optimal control is given by , where is the computed feedback gain matrix.
  • For continuous-time systems, the optimal feedback gain is computed as kappa=TemplateBox[{r}, Inverse].(b_f.x_r+p), where is the solution of the continuous Riccati equation a.x_r+x_r.a-(x_r.b_f+p).TemplateBox[{r}, Inverse].(b_f.x_r+p)+q=0, and is the submatrix of associated with the feedback inputs .
  • For discrete-time systems, the optimal feedback gain is computed as kappa=TemplateBox[{{(, {{{{b, _, f}, }, ., {x, _, r}, ., {b, _, f}}, +, r}, )}}, Inverse].(b_f.x_r.a+p), where is the solution of the discrete Riccati equation a.x_r.a-x_r-(a.x_r.b_f+p)TemplateBox[{{., {(, {{{{b, _, f}, }, ., {x, _, r}, ., {b, _, f}}, +, r}, )}}}, Inverse].(b_f.x_r.a+p)+q=0.
  • The optimal control is unique and stabilizing if is stabilizable, is detectable, , and .

Examples

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Basic Examples  (5)

Compute the optimum feedback gain matrix for a continuous-time system:

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Calculate the optimal control gains for an unstable system:

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Compare the open- and closed-loop poles:

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Compute the optimal state-feedback gain matrix for a discrete-time system:

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Calculate the feedback gains for controlling a two-input system using the first input:

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A set of feedback gains for a stabilizable but uncontrollable system:

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Scope  (7)

Applications  (3)

Properties & Relations  (9)

Possible Issues  (4)

See Also

DiscreteLQRegulatorGains  LQOutputRegulatorGains  RiccatiSolve  DiscreteRiccatiSolve  StateFeedbackGains  LQGRegulator  EstimatorRegulator  ControllableModelQ

Introduced in 2010
(8.0)
| Updated in 2014
(10.0)