How to use lqr for R=0?
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I try to get a lqr controller with R=0, and the command lqr does not let me.
How do I plan an lqr controller for R=0 in matlab?
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Accepted Answer
Sam Chak
on 21 Mar 2024
Why would you want to set the input-weighted matrix R to zero?
If you set R to zero in the LQR control gain design, it means that you are assigning zero importance to the control effort in the cost function. In this case, the LQR control algorithm will mainly focus on minimizing the state error (based on the weight matrix Q) while disregarding the control effort.
Practically, setting R = 0 implies that the control gain matrix K will not have any contribution from the control input term. Consequently, the gain matrix K may become infinitely large to drive the state error to zero in a split second. This makes the tuning process becomes impractical.
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Sam Chak
on 22 Mar 2024
Hi @tevel hedi
I'm glad to hear that the solution worked. If you found the 'eps' trick helpful in solving your LQR problem, please consider clicking 'Accept' ✔️ on the answer and voting 👍 for it.
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