User`s guide

Table Of Contents

Control Design Tools

1-21

Figure 1-1: Simple Regulation Loop

The following commands design the optimal LQG regulator for this

problem.

sys = ss(tf(100,[1 1 100]))% state-space plant model

% Design LQ-optimal gain K

K = lqry(sys,10,1) % u = –Kx minimizes J(u)

% Separate control input u and disturbance input d

P = sys(:,[^ ^]);

% input [u;d], output y

% Design Kalman state estimator KEST

Kest = kalman(P,1,0.01)

% Form LQG regulator = LQ gain + Kalman filter

F = lqgreg(Kest,K)

The last command returns a state-space model F of the LQG regulator .

Note that

lqry, kalman,andlqgreg perform discrete-time LQG design when

applied to discrete plants.

100

s 100++

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LQG regulator

Fs()

ud+

Plant

()