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Linear Quadratic Regulator

  1. Nov 24, 2014 #1
    I have pantograph simulation on simulink. The dynamic model of the system is given as a C code. So the input is torque and output is motor angles and velocities.

    I need to build a QLR controller and to do so I need to come up with state space model of the system, right ?

    I have the following equation of motion;

    M(q)q'' = H(q,u) + Bf(q)Fext + Torque

    where M and Bf are 2x2 matrices and H is 2x1

    My states would be q1,q2,q1',q2' where q1' and q2' are the joint velocities.

    But I don't know how can I obtain the state space model when my equation of motion consists of matrices
    Last edited: Nov 24, 2014
  2. jcsd
  3. Nov 29, 2014 #2
    Thanks for the post! This is an automated courtesy bump. Sorry you aren't generating responses at the moment. Do you have any further information, come to any new conclusions or is it possible to reword the post?
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