Form linear-quadratic (LQ) state-feedback regulator with output weighting
[K,S,e] = lqry(sys,Q,R,N)
Given the plant
or its discrete-time counterpart, lqry
designs
a state-feedback control
that minimizes the quadratic cost function with output weighting
(or its discrete-time counterpart). The function lqry
is
equivalent to lqr
or dlqr
with
weighting matrices:
[K,S,e] = lqry(sys,Q,R,N)
returns the optimal gain matrix K
, the Riccati
solution S
, and the closed-loop eigenvalues e
= eig(A-B*K)
. The state-space model sys
specifies
the continuous- or discrete-time plant data (A, B, C, D).
The default value N=0
is assumed when N
is
omitted.
See LQG Design for the x-Axis for an example.
The data must satisfy the
requirements for lqr
or dlqr
.