# lqrTrack

compute an LQR controller

## Contents

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

## Syntax

K = lqrTrack(x0,xf,u,param)

## 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])
xf | final state of the considered reference trajectory part (dimension: [nx,1])
u | reference control input for the considered reference trajectory part (dimension: [nu,1])
Opts | a structure containing following options
.A | function handle to the system matrix of the linearized system
.B | function handle to the input matrix of the linearized system
.Q | state weighting matrix for LQR control (dimension: [nx,nx])
.R | input weighting matrix for LQR control (dimension: [nu,nu])

## Output Arguments

K | computed feedback matrix for the tracking controller (dimension: [nu,nx])

## See Also

`reachsetMPC`

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