レギュレータ系のコマンドのまとめ

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,QXU,QWV,QI)
reg = lqg(sys,QXU,QWV,QI,'1dof')
reg = lqg(sys,QXU,QWV,QI,'2dof')
reg = lqg(___,'current')
[reg,info] = lqg(___)

lqgreg

Form linear-quadratic-Gaussian (LQG) regulator

rlqg = lqgreg(kest,k)
rlqg = lqgreg(kest,k,controls)

lqgtrack

Form Linear-Quadratic-Gaussian (LQG) servo controller

C = lqgtrack(kest,k)
C = lqgtrack(kest,k,'2dof')
C = lqgtrack(kest,k,'1dof')
C = lqgtrack(kest,k,...CONTROLS)

kalman

Kalman filter design, Kalman estimator

[kest,L,P] = kalman(sys,Qn,Rn,Nn)
[kest,L,P] = kalman(sys,Qn,Rn,Nn,sensors,known)
[kest,L,P,M,Z] = kalman(sys,Qn,Rn,...,type)

extendedKalmanFilter

Create extended Kalman filter object for online state estimation

obj = extendedKalmanFilter(StateTransitionFcn,MeasurementFcn,InitialState)
obj = extendedKalmanFilter(StateTransitionFcn,MeasurementFcn,InitialState,Name,Value)
obj = extendedKalmanFilter(StateTransitionFcn,MeasurementFcn)
obj = extendedKalmanFilter(StateTransitionFcn,MeasurementFcn,Name,Value)
obj = extendedKalmanFilter(Name,Value)

unscentedKalmanFilter

Create unscented Kalman filter object for online state estimation

obj = unscentedKalmanFilter(StateTransitionFcn,MeasurementFcn,InitialState)
obj = unscentedKalmanFilter(StateTransitionFcn,MeasurementFcn,InitialState,Name,Value)
obj = unscentedKalmanFilter(StateTransitionFcn,MeasurementFcn)
obj = unscentedKalmanFilter(StateTransitionFcn,MeasurementFcn,Name,Value)
obj = unscentedKalmanFilter(Name,Value)