QCR:
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Create a regulator of the form
u = -Kx minimizing the cost functional
J = †{(1/2)[u'ru + x'qx] + u'nx + x'nu}dt.
Given the constraint:
.
x = ax + bu
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Form:
[k, sinf] = QCR( a, b, q, r, n )
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Inputs
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a Plant matrix (n,m)
b Input matrix
q State cost matrix
r Input cost matrix
n State/input cost cross-coupling matrix
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Outputs
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k Optimal gain
sinf Solution to the matrix Ricatti equation
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Children:
Common: Control/Riccati