lqrTrack
compute an LQR controller
Contents
Syntax
Description
This function computes the feedback matrix for the tracking controller by applying the LQR control approach to the linearized system
Input Arguments
x0 |
initial state of the considered reference trajectory part (dimension: [nx,1]) |
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xf |
final state of the considered reference trajectory part (dimension: [nx,1]) |
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u |
reference control input for the considered reference trajectory part (dimension: [nu,1]) |
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Opts |
a structure containing following options
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Output Arguments
K |
computed feedback matrix for the tracking controller (dimension: [nu,nx]) |
See Also
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