State-Feedback Controller

Discrete-time state-feedback controller with integral action

  • Library:
  • Simscape / Power Systems / Simscape Components / Control / General Control


The State-Feedback Controller block implements a discrete-time state-feedback controller with integral action.


The integral of the tracking error, xi, is an additional state that ensures zero steady-state error for the closed-loop system. The extended state vector is



  • x is the state vector.

  • xi is the integral of the tracking error.

  • xe is the extended state vector.

Therefore, the control action is



  • K is the feedback matrix, that is, the pole placement.

  • u is the controller output.


System state measurement and estimation occur outside the controller.



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Plant system reference signal.

Data Types: single | double

Measured or estimated system state vector.

Data Types: single | double

External reset signal (rising edge) for the integrator.

Data Types: Boolean

Plant system output signal.

Data Types: single | double


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Control system output signal.

Data Types: single | double


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Controller feedback matrix. To determine the controller matrix, if you have a license for Control System Toolbox™, use the lqr or lqi function.

Upper limit for the control output signal.

Lower limit for the control output signal.

Time interval between samples. If the block is inside a triggered subsystem, inherit the sample time by setting this parameter to -1. If this block is in a continuous variable-step model, specify the sample time explicitly. For more information, see What Is Sample Time? (Simulink) and Specify Sample Time (Simulink).

Introduced in R2017b

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