LQR design of MIMO system with distubance inputs

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MikeB
MikeB 2017-7-13
评论： Ari 2017-7-28
I have a MIMO system where I've modeled a control input and a disturbance input separately in the B matrix. I don't have any control over the disturbance input to the system.
When I define the LQR system I'm using lqr(A,B(:,1),Q,R) where B(:,1) is the control/reference input to the system, which seems to follow other examples I've found. However, when I vary Q, the K Gain vector stays the same. Is there some additional part of the lqr command I'm missing? Is there an issue with how the system is modeled?
Thanks in advance.
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Ari
Ari 2017-7-28
I tried this on R2017a and I was able to get different gain matrices K after varying Q. Would you mind pasting your code here?

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