Hi Joe,
One thing you can try is this:
[x,l,g,report] = dare(A,B,Q,R);
Refer the report and see what it returns.
If the 'report' is -1, it is likely that the eigenvalues of the symplectic pencil are close to the unit circle. As mentioned in the documentation of the 'dare' function, for the 'dare' to work, no eigenvalues should be lie on the unit circle.
Also, I would recommend checking other requirements for using 'dare'like:
1. (A,B) must be stabilizable. 2. [Q S;S' R] > 0
The reason Abar, Bbar might be working with 'dare' is you are still using original Q and R. These matrices need transformation too after you have transformed the original state space.
Qbar = T' * Q * T (given: xbar = T * x)
If this does not help either, please check the controllability of your system and paste your A and B matrix in the comments.
Sudarshan
