I’m a little confused by the “
dlqr(A, B, Q, R), dlqr(sys, Q, R) Calculate the optimal gain matrix K for the state-feedback law u[k] = K*x[k] that minimizes the cost function: J = sum(x'Qx + u'Ru, 0, inf). For the discrte time model x[k+1] = Ax[k] + Bu[k]. See also lqg Usage example: h = 0.1 A = [1 h; 0 1] B = [0;1] C = [1 0] sys = ss(A,B,C,0, h) Q = eye(2) R = eye(1) L = dlqr(A,B,Q,R) # lqr(sys,Q,R) can also be used u(t,x) = -L*x # Form control law,
The introduction talks about computing matrix
K and positive feedback u=Kx while the example states that matrix
L is computed where presumably L=-K.
I assume this is just a question of typos/documentation in need of update?