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Design linear-quadratic (LQ) state-feedback regulator for continuous plant
Syntax
[K,S,e] = lqr(A,B,Q,R) [K,S,e] = lqr(A,B,Q,R,N)
Description
[K,S,e] = lqr(A,B,Q,R,N)
calculates the optimal gain matrix K such that the state-feedback law 
minimizes the quadratic cost function
The default value N=0 is assumed when N is omitted.
In addition to the state-feedback gain K, lqr returns the solution S of the associated Riccati equation
e = eig(A-B*K). Note that 
is derived from 
by
Limitations
The problem data must satisfy:See Also
is stabilizable.
and 
.
has no unobservable mode on the imaginary axis.
care Solve continuous Riccati equations
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