Xmath Interactive Control Design Module User's Manual

LQG Synthesis

This chapter discusses the LQG Synthesis window, which is used to

synthesize a linear quadratic Gaussian (LQG) controller for a SISO plant.

If you select LQG synthesis with a MIMO plant, you will get the MIMO

LQG Synthesis window described in Chapter 12, LQG/H-Infinity

Synthesis.

LQG Synthesis Window Anatomy

The LQG Synthesis window is shown in Figure 7-1. From top to bottom,

it contains:

• A menu bar with entries Special, Edit, View, and Help.

• A message area that describes the synthesis mode (type of controller);

for example,

LQG with integral action.

• A control panel for changing the four design parameters:

– Control cost parameter (ρ)

– Sensor noise parameter (υ)

– Integral action time constant (T

int

)

– Decay rate or exponential time weighting parameter (a)

These parameters are described in greater detail later in this chapter.