LQRSet

Purpose

Computes an invariant subset of an LQR controller

Syntax

S = system.LQRSet()

Description

This function computes the set of states where an LQR controller ../../../../../fig/mpt/modules/ui/@LTISystem/lqrset1.png provides recursive satisfaction of state and input constraints.

The set is computed by running the set recursion

../../../../../fig/mpt/modules/ui/@LTISystem/lqrset4.png

initialized by ../../../../../fig/mpt/modules/ui/@LTISystem/lqrset2.png and terminating once ../../../../../fig/mpt/modules/ui/@LTISystem/lqrset3.png. The LQR feedback gain is computed automatically by calling K = system.LQRGain().

Note that this function requires that input and state constraints are defined in system.u.min, system.u.max, system.x.min, and system.x.max (see "help SystemSignal").

Output Arguments

S

Invariant set of the LQR controller

Class: Polyhedron


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk