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])
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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Published with MATLAB® R2022a