When K=dlqr(Ad,Bd,Q,R) is used, Ad,Bd is already discretized, why not Q,R?

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changshi
changshi 2024-11-9，13:43
评论： changshi 2024-11-10，1:56
I wish to know dlqr() priciple,I thank write dlqr() C won code ON MCU (STM32F103CBT6).

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Paul
Paul 2024-11-9，13:59
According to dlqr, the Q and R matrices input to the function define the discrete-time quadratic cost function sum. In that sense, they are already "discretized," aren't they?
Note: the Riccati equation shown in the Algorithms section of dlqr looks suspect.

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