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How do I construct the closed loop system after designing a controller with lqgtrack?

Asked by Kelley on 21 Mar 2014

I have designed a reference-tracking controller using the 2dof version of lqgtrack. I want to use the feedback function to connect my controller and my plant. If I were designing a lqg regulator (with all the outputs of the plant being returned as measurements and all the inputs of the plant acting as controls) I would use the following:

clsys = feedback(sys,reg,+1);

For the tracking version, only half of the inputs my my controller are incorporated in the feedback loop since the reference signal comes in separately from the measurements. I don't believe that the feedin & feedout options of feedback allow me to prescribe this. How can I go about constructing the closed loop system?

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Kelley

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