how to design LQR controller with time-variable parameters ?
hi,
i am trying to design LQR controller for a system but one variable for matrix A is changing with time (it is a vector of 10001x1)so the error in matlab is matrix dimension and i heard that interpreted matlab function could be useful but still i have doubts. can anyone help me with this problem?
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Yes, a MATLAB Function block would indeed do the trick. Suppose you make a function:
function output = myLQR(error,param)Where param is the the value of that one element of A (let’s say, A(5,5)) passed in as a time-varying signal to the MATLAB function. So, in the function, you can say something like:
A(5,5) = param;Then, the command to design an LQR contoller given A and B matrices, and Q/R/N noise covariance matrices, is as follows (or look at the lqr documentation for other ways to call it).
K = lqr(A,B,Q,R,N)Finally, you want to multiply the resulting K matrix with your error signal, and that’s your control law!
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