The "lqi" command failed to stabilize the plant or find an optimal feedback gain

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Tonghui Zhang
Tonghui Zhang 2019-6-12
Hi all,
I got a problem when I tried using lqi command. My system is a discrete system with 8 states, 4 inputs and 4 outputs. All my states are controllable. But when I try to use lqi, it reports :The "lqi" 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 [Q N;N' R] positive definite (use EIG to check positivity).
I think the problem is caused by the cond number. So anyone knows how to deal with it?
Thanks alot

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