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MATLAB minreal for stabilizing a control plan

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javid navaheri
javid navaheri 2015-6-6
Having weighing matrices G and Rin using lqry
[K,~,~] = lqry(mysys,G,Rin);
I got the following error:
Error using ss/lqry (line 96) The "lqry" command failed to stabilize the plant or find an optimal feedback gain. To remedy this problem:
1. Make sure that all unstable poles of A are controllable through B (use MINREAL to check)
2. Modify the weights Q and R to make [C D;0 I]'*[Q N;N' R]*[C D;0 I] positive definite (use EIG to check positivity).
If I want to use minreal for stabilizing the plan, how should I modify G and Rin ?
mysys=minreal(mysys);
G=?????
Rin=?????
[K,~,~] = lqry(mysys,G,Rin);

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