User`s guide

lqgreg
11-119
• Continuous regulator for continuous plant: use lqr or lqry and kalman.
• Discrete regulator for discrete plant: use
dlqr or lqry and kalman.
• Discrete regulator for continuous plant: use
lqrd and kalmd.
In discrete time,
lqgreg produces the regulator
bydefault(see“Description”).Toformthe“current”LQGregulat orinstead,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 ha ve 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.
un[] Kx
ˆ
nn 1–[]–=
un[] Kx
ˆ
nn[]–=
u
d
u
u
d
y
v