Specifications

lqgreg
16-119
• Discrete regulator for continuous plant: use lqrd and kalmd.
In discrete time,
lqgreg produces the regulator
bydefault(see“Description”).Toformthe“current”LQGregulatorinstead,use
the syntax
rlqg = lqgreg(kest,k,'current')
This syntax is meaningful only for discrete-time problems.
rlqg = lqgreg(kest,k,controls) handles estimators that have access to
additional known plant inputs . The index vector
controls then specifies
which estimator inputs are the controls , and the resulting LQG regulator
rlqg has and as inputs (see figure below).
Note: Always use positive feedback to connect the LQG regulator to the
plant.
Example SeetheexampleLQGRegulation.
un
[]
Kx
ˆ
nn 1–
[]
–=
un
[]
Kx
ˆ
nn
[]
–=
u
d
u
u
d
y
v
x
ˆ
u
y
v
Kalman
estimator
u
d
K–
u
LQG regulator