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Aide Scilab >> CACSD > lqg

lqg

LQG compensator

Calling Sequence

[K]=lqg(P,r)

Arguments

P

syslin list (augmented plant) in state-space form

r

1x2 row vector = (number of measurements, number of inputs) (dimension of the 2,2 part of P)

K

syslin list (controller)

Description

lqg computes the linear optimal LQG (H2) controller for the "augmented" plant P=syslin('c',A,B,C,D) (continuous time) or P=syslin('d',A,B,C,D) (discrete time).

The function lqg2stan returns P and r given the nominal plant, weighting terms and variances of noises.

K is given by the following ABCD matrices: [A+B*Kc+Kf*C+Kf*D*Kc,-Kf,Kc,0] where Kc=lqr(P12) is the controller gain and Kf=lqe(P21) is the filter gain. See example in lqg2stan.

See Also

  • lqg2stan — LQG to standard problem
  • lqr — LQ compensator (full state)
  • lqe — linear quadratic estimator (Kalman Filter)
  • h_inf — H-infinity (central) controller
  • obscont — observer based controller

Authors

F.D.

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Copyright (c) 1989-2007 (ENPC)
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Last updated:
Wed Oct 05 12:10:51 CEST 2011