How to design LQR problem for tracking a reference output

49 次查看（过去 30 天）
pippo
pippo 2013-7-11
评论： Sam Chak 2024-6-27
Hi,
I am trying to design an optimal control for tracking a real time reference signal. As I know, the 'lqr/dlqr' command in MATLAB just works for regulator problem. Could anyone give me a help? or some reference readings.
Many thanks.

请先登录，再回答此问题。

回答（2 个）

M
M 2018-8-28
You can use the lqi function.
Mohamed Abdullah
Mohamed Abdullah 2022-11-6
you convert your problem to be in a regulator form. this is done by incorporating your desired states with the actual states in one vector and (that is the error vector) to be your new state vetor in this way, your controller is trying to bring the error between the desired and actual states or outputs to zero.
and the new cost function shall be
  2 个评论
Amirah Algethami
Amirah Algethami 2024-6-27
Thanks@Mohamed Abdullah can you provide me with matlab example code.As you explination is what I need exactly.
Sam Chak
Sam Chak 2024-6-27
Hi @Amirah Algethami
The computed gains from the LQR approach, "K = lqr(A, B, Q, R)", do not affect the tracking capability from a theoretical perspective. Have you tested your code to regulate a process variable at a constant value and to track a sinusoidal reference signal?
If you're having trouble, please post a new question with a toy problem and a simple LQR code for a second-order system.

请先登录，再进行评论。

类别

在 Help Center 和 File Exchange 中查找有关 State-Space Control Design 的更多信息

标签

产品

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by