initFeedbackMatrix

compute the inital values for the feedback matrices

Contents

Syntax

Kinit = initFeedbackMatrix(Opts)

Description

Computes the inital values for the feedback matrices for all time steps with the LQR approach.

Input Arguments

Opts

a structure containing the algorithm settings

.Qlqr

State weitghing matrix for the LQR-controller used to initialize the feedback matrices

.Rlqr

State weitghing matrix for the LQR-controller used to initialize the feedback matrices

Output Arguments

Kinit

initial values for the feedback matrices for all time steps (dimension: [nu,nx*N])

See Also

optimizationBasedControl


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