# comfContrLQR

class representing an LQR controller object

## Contents

- Syntax
- Description
- Input Arguments

## Syntax

obj = CONFCONTRLQR(benchmark,Opts,ContrOpts)

## Description

This class represents a LQR (Linear Quadratic Regulator) controller object which can be used as a comfort controller during the online phase of the Safety Net Controller.

## Input Arguments

html cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="" valign="top" bgcolor="#F2F2F2" td class="table" benchmark /p /td td class="table" name of the considered benchmark model (see; "aroc/benchmarks/...") /p /td /tr bgcolor="#F2F2F2" td class="table" Opts /p /td td class="table" a structure containing following options /p class="table" cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner" valign="top" bgcolor="#F2F2F2" td class="table" .xf /p /td td class="table" goal state /p /td /tr bgcolor="#F2F2F2" td class="table" .tFinal /p /td td class="table" final time after which the goal set should be reached /p /td /tr bgcolor="#F2F2F2" td class="table" .U /p /td td class="table" set of admissible control inputs (class:; interval) /p /td /tr bgcolor="#F2F2F2" td class="table" .W /p /td td class="table" set of uncertain disturbances (class: interval) /p /td /tr bgcolor="#F2F2F2" td class="table" .V /p /td td class="table" set of measurement errors (class: interval or; zonotope) /p /td /tr bgcolor="#F2F2F2" td class="table" .X /p /td td class="table" set of state constraints (class: mptPolytope) /p /td /tr bgcolor="#F2F2F2" td class="table" .N /p /td td class="table" number of time-steps [{10} / positive integer] /p /td /tr bgcolor="#F2F2F2" td class="table" .Ninter /p /td td class="table" number of intermediate time steps [{4} / positive integer] /p /td /tr bgcolor="#F2F2F2" td class="table" .uCenter /p /td td class="table" reference trajectory inputs /p /td /tr bgcolor="#F2F2F2" td class="table" .xCenter /p /td td class="table" reference trajectory states

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