clear; close all; clc; A = [0 1;-1 -1]; B = [0; 1]; C = [1 0]; D = 0; sys = ss(A,B,C,D); nx = 2; %Number of states ny = 1; %Number of outputs Qn = [4 0; 0 1]; Rn = 0.7; R = 1; QXU = blkdiag(0.1*eye(nx),R); QWV = blkdiag(Qn,Rn); QI = eye(ny…

clear; close all; clc; A = [0 1 0;0 0 1;1 0 0]; B = [0.3 1;0 1;-0.3 0.9]; C = [1.9 1.3 1]; D = [0.53 -0.61]; sys = ss(A,B,C,D); nx = 3; %Number of states ny = 1; %Number of outputs Qn = [4 2 0; 2 1 0; 0 0 1]; Rn = 0.7; R = [1 0;0 2] QXU = …

place Pole placement design K = place(A,B,p) [K,prec,message] = place(A,B,p) estim Form state estimator given estimator gain est = estim(sys,L) est = estim(sys,L,sensors,known) reg Form regulator given state-feedback and estimator gains rs…

lqr Linear-Quadratic Regulator (LQR) design [K,S,e] = lqr(SYS,Q,R,N) [K,S,e] = LQR(A,B,Q,R,N) lqi Linear-Quadratic-Integral control [K,S,e] = lqi(SYS,Q,R,N) lqg Linear-Quadratic-Gaussian (LQG) design reg = lqg(sys,QXU,QWV) reg = lqg(sys,QX…