Path: Common/Control
% Determine the steady state control for a state space system.
.
x = Ax + Bu
y = Cx + Du
given y. If the number of inputs is less than the number of
outputs it computes a weighted least squares fit to y using
the weighting matrix q. If the number of inputs is greater
than the number of outputs it minimizes the function u'ru.
If q is not input it uses the identity matrix.
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Form:
[u, x, yC] = SteadyS( a, b, c, d, y, q, r )
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Inputs
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a Plant matrix
b Input matrix
c Output matrix
d Feedthrough matrix
y Desired output
q Weighting matrix for y
r Weighting matrix for u
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Outputs
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u Steady state control
x Steady state state
yC Achievable y if number of outputs > number of controls
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Reference: Bryson, A.E., Jr. (1994). Control of Spacecraft and Aircraft
Princeton University Press, Princeton, NJ.
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