# computeFeedbackControl

compute feedback matrix using optimization

## Contents

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

## Syntax

[K,R] = computeFeedbackControl(sys,objCtrl_ff,Opts)

## Description

Computes an optimal feedback matrix for the combined control algorithm by optimization over the reachable set of the controlled system.

## Input Arguments

sys | controlled system object (class: nonlinParamSys)
objCtrl_ff | feedforward contr. object (class: objGenSpaceContr; or objPolyContr)
Opts | a structure containing the algorithm settings

## Output Arguments

K | cell-array storing the resulting feedback matrices
R | resulting reachable set (class: reachSet)

## See Also

`combinedControl`

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