lqry (Control System Toolbox)

lqry	Examples See Also

Linear-quadratic (LQ) state-feedback regulator with output weighting

Syntax

[K,S,e] = lqry(sys,Q,R)
[K,S,e] = lqry(sys,Q,R,N)

Description

Given the plant

or its discrete-time counterpart, lqry designs a state-feedback control

that minimizes the quadratic cost function with output weighting

(or its discrete-time counterpart). The function lqry is equivalent to lqr or dlqr with weighting matrices:

[K,S,e] = lqry(sys,Q,R,N)

returns the optimal gain matrix K, the Riccati solution S, and the closed-loop eigenvalues e = eig(A-B*K). The state-space model sys specifies the continuous- or discrete-time plant data

. The default value N=0 is assumed when N is omitted.

Example

See "LQG Design for the x-Axis" in the manual for an example.

Limitations

The data

must satisfy the requirements for lqr or dlqr.