Specifications

reg
16-175
16reg
Purpose Form regulator given state-feedback and estimator gains
Syntax rsys = reg(sys,K,L)
rsys = reg(sys,K,L,sensors,known,controls)
Description rsys = reg(sys,K,L) forms a dynamicregulator or compensatorrsys given a
state-space model
sys of the plant, a state-feedback gain matrix K,andan
estimator gain matrix
L.ThegainsK and L are typically designed using pole
placement or LQG techniques. The function
reg handles both continuous- and
discrete-time cases.
This syntax assumes that all inputs of
sys are controls, and all outputs are
measured.Theregulator
rsys is obtained by connectingthestate-feedbacklaw
and the state estimator with gain matrix
L (see estim). For a plant
with equations
this yields the regulator
uK– x=
x
·
Ax Bu+=
yCxDu+=
x
ˆ
·
ALC– BLD–
()
K– x
ˆ
Ly+=
uKx
ˆ
–=