How to design LQR problem for tracking a reference output

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I am trying to design an optimal control for tracking a real time reference signal. As I know, the 'lqr/dlqr' command in MATLAB just works for regulator problem. Could anyone give me a help? or some reference readings.
Many thanks.

Answers (2)

M on 28 Aug 2018
You can use the lqi function.

Mohamed Abdullah
Mohamed Abdullah on 6 Nov 2022
you convert your problem to be in a regulator form. this is done by incorporating your desired states with the actual states in one vector and (that is the error vector) to be your new state vetor in this way, your controller is trying to bring the error between the desired and actual states or outputs to zero.
and the new cost function shall be

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