Is there lqid() ? Lqr() has lqrd(), but I can't find lqid()

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John
John 2023-3-28
评论： Paul 2023-3-29
Is there lqid()?
Lqr() (continuous-time) has lqrd() (discrete-time), but I can't find lqid().
Is lqi() overloaded for discrete, or am I just trying for the wrong function name for discrete lqi?

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John
John 2023-3-29
To answer my own question, after writing to mathworks:
lqr() has lqrd(), but there isn't an equivalent for lqi(). lqi() is overloaded and accepts discrete system, and returns discrete gains. I missed that in the documentation.
I'm not sure why lqr() has different versions, but, hopefully this helps anyone else wondering.
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Paul
Paul 2023-3-29
lqr is also overloaded and can accept discrete- or continuous-time system as the sys input. lqrd isn't the same as lqr() with a discrete sys input. The Q and R and N matrices mean different things for the two functions.

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