# compFeedbackMatrix

compute the feedback matrix for the control law

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

c = CHECKCONSTRAINTS(R,K,u_ref,Opts)

## Description

This function computes the feedback matrix for the control law u = u_ref + K(x-x_ref) from the current value of the optimization variables. The optimization variables are the weights of the state and input weigthing matrix, and the feedback matrix is computed with the LQR approach.

## Input Arguments

x | current value for the optimization variables
A | dynamic matrix of the linear of linearized system
B | input matrix of the linear of linearized system

## Output Arguments

K | computed feedback matrix for the control law u = u_ref + K(x-x_ref)

## See Also

`optimizationBasedControl`, `conFun`, `costFun`

© 2018-2023 I6 Technische Universität München `•` Website `•` License