lqg(1)

NAME
lqg - LQG compensator

CALLING SEQUENCE
[K]=lqg(P,r)

PARAMETERS

P   : syslin list (augmented plant) in state-space form

r   : 1x2 row vector = (number of measurements, number of inputs) (dimension of
     the 2,2 part of P)

K   : syslin list (controller)

DESCRIPTION
lqg computes the linear optimal LQG (H2) controller for the "augmented" plant P=syslin('c',A,B,C,D) (continuous time) or P=syslin('d',A,B,C,D) (discrete time).

The function lqg2stan returns P and r given the nominal plant, weighting terms and variances of noises.

K is given by the following ABCD matrices: [A+B*Kc+Kf*C+Kf*D*Kc,-Kf,Kc,0] where Kc=lqr(P12) is the controller gain and Kf=lqe(P21) is the filter gain. See example in lqg2stan.

SEE ALSO
lqg2stan, lqr, lqe, h_inf, obscont

AUTHOR
F.D.