How to use LQR and code generation?

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Joschua 2013년 12월 4일
댓글: Victory Friday 2022년 1월 21일
I'm trying to generate C Code of a Simulink model, that contains an embedded Matlab function containing the Matlab LQR(A,B,Q,R,N) function.
But I recieve this error: "The function 'lqr' is not supported for standalone code generation."
I can not use code.extrinsic, because the target won't have MATLAB installed.
Is there a work-around?
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Ryan Livingston
Ryan Livingston 2019년 2월 13일
We've made an internal note of your request to support code generation for lqr so it can be considered for the future.

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John Petersen
John Petersen 2015년 5월 29일
The 'work around' is to write your own Ricatti Eq Solver.
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Victory Friday
Victory Friday 2022년 1월 21일

Please can you help me with one

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Raj 2019년 2월 13일
Unfortunately there is not work around here. Coder.Extrinsic functions are not supported for code generation. Only call to there functions will come in your generated code. You will have to go to mathematics and write algorithm to solve the Algebraic Riccati Equation.
However, if your system is not time variant (i.e. LTI) systems, I would recommend computing the gain matrix separately and use the gain matrix directly in your model.


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