Path: Common/Control
% Output feedback design with a reference input.
dx/dt = ax + bu + gr
y = cx + fr
z = hx (Performance criteria)
The performance index is
J = (t^k *x'*P*x + x'*Q*x) dt
options(1) = 1 add control to t^k term
else add to Q
options(2) = 1 tracker problem
else regulator problem
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Form:
j = JLQTWOF( k, g, w, t, options )
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Inputs
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k Gain
g State space data structure
w Weighting matrix
t Tracking matrices data structure
options (1,2) Algorithm options
options(1) = 1 Multiply the control weighting by t^k
options(1) = 0 Multiply the control weighting by 1
options(2) = 1 Tracker problem
options(2) = 0 Regulator problem
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Outputs
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j Scalar cost
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Math: Analysis/LyapG Math: Linear/Factorl
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