Optimal control with integral action for tracking a non-zero reference
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Hello,
I have a discrete-time state-space realization:
x(k+1)=Ax(k)+Bu(k), y(k)=Cx(k)+Du(k)
I want to use LQ optimal control for tracking the output signal y with respect to a reference signal r different from 0. A classic way to do it is to add an integral action and to augment the original state-space system.
Is the MATLAB function lqi suitable for solving this problem? If it is, how can be done? If it is not, any hint?
From lqi help page http://www.mathworks.com/help/toolbox/control/ref/lqi.html, it seems it can only track zero reference signals:
The control law u = –Kz = –K[x;xi] minimizes the following cost functions (for r = 0)...
PS: Sorry for the possibly trivial question but I am not a control-theory expert.
Thank you very much!!
回答（1 个）
Arkadiy Turevskiy
2011-6-9
0 个投票
Yes, lqi is exactly what you need. It works for non-zero reference signals.
Use that function to calculate gain K, the simulate your system either in MATLAB by using commands such as feedback, or just setup the system in Simulink.
Arkadiy
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2011-4-27
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