When K=dlqr(Ad,Bd,Q,R) is used, Ad,Bd is already discretized, why not Q,R?

I wish to know dlqr() priciple,I thank write dlqr() C won code ON MCU (STM32F103CBT6).

Answer 1

[Paul]

According to dlqr, the Q and R matrices input to the function define the discrete-time quadratic cost function sum. In that sense, they are already "discretized," aren't they?

Note: the Riccati equation shown in the Algorithms section of dlqr looks suspect.

[changshi]

Very much thank PJ’s answer,I have canned to understand 70% of what I'm asking.