How can i tune Q and R parameters of a LQI controller?
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Hi,
I benefit from the MATLAB's built-in function -lqi- to obtain a control input. In my design, i have only one input, however number of outputs is 2. I tried many of random number to tune my controller, unfortunately, i cannot find an optimal parameter set. Is there any way to determine Q and R weights of the LQI controller? I neglected N parameter for this design.
My state space representation is given below:
A = [-7.1167,-0.9680,0,0;...
3.3952,-11.2172,0,0;...
0,1.0000,0,0;...
13.5556,0,13.5556,0];
B = [3.5583; 44.2877; 0; 0];
C = [0,0,1,0;...
0,0,0,1];
I am trying to follow step input. May you help me to solve this problem?
Thanks,
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Paul
2023-12-4
This Answer thread may be of interest. Among other things, it shows how to use the Symmetric Root Locus (SRL) technique to design LQI controllers. The problem in this question is higher order and so the SRL method might be a bit more difficult to apply, but it might be a place to start. A Google search on Symmetric Root Locus will bring up a lot of information as well. It's just one method for desiging the Q and R matrices (actually only Q the matrix).
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