How to use LQR and code generation?

I'm trying to generate C Code of a Simulink model, that contains an embedded Matlab function containing the Matlab LQR(A,B,Q,R,N) function.

But I recieve this error: "The function 'lqr' is not supported for standalone code generation."

I can not use code.extrinsic, because the target won't have MATLAB installed.

Is there a work-around?

[Ryan Livingston]

We've made an internal note of your request to support code generation for lqr so it can be considered for the future.

Answer 1

[John Petersen]

The 'work around' is to write your own Ricatti Eq Solver.

[Victory Friday]

Please can you help me with one

Answer 2

[Raj]

Unfortunately there is not work around here. Coder.Extrinsic functions are not supported for code generation. Only call to there functions will come in your generated code. You will have to go to mathematics and write algorithm to solve the Algebraic Riccati Equation.

However, if your system is not time variant (i.e. LTI) systems, I would recommend computing the gain matrix separately and use the gain matrix directly in your model.