LQR design of MIMO system with distubance inputs
20 visualizaciones (últimos 30 días)
I have a MIMO system where I've modeled a control input and a disturbance input separately in the B matrix. I don't have any control over the disturbance input to the system.
When I define the LQR system I'm using lqr(A,B(:,1),Q,R) where B(:,1) is the control/reference input to the system, which seems to follow other examples I've found. However, when I vary Q, the K Gain vector stays the same. Is there some additional part of the lqr command I'm missing? Is there an issue with how the system is modeled?
Thanks in advance.