Specifications

10 Design Case Studies
10-42
% State-feedback gain design
Pydes = append(lpf,1) * Py % Add low-freq. weigthing
set(Pydes,'outputn',{'y-gap*' 'y-force'})
ky = lqry(Pydes(1,1),1,1e-4)
% Kalman estimator design
esty = kalman(Pydes(2,:),eye(2),1e3)
% Form SISO LQG regulator for y-axis and close the loop
Regy = lqgreg(esty,ky)
cly = feedback(Py,Regy,1,2,+1)
Compare the open- and closed-loop response to the white noise input
disturbances.
dt = 0.01
t = 0:dt:50
wy = sqrt(1/dt) * randn(2,length(t))