Linear quadratic integrator: adding the integrator on a state
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Hi to everyone!
I'm having an issue tuning an lqi, in particular:
I want to add an integrator on a state, hence I use this state as an output and use the matlab lqi function. The error I'm having is the following:
Error using ss/lqi (line 115)
Cannot compute the stabilizing Riccati solution S
for the LQR design.
This could be because:
* R is singular,
* [Q N;N' R] needs to be positive definite,
* The E matrix in the state equation is singular.
Has someone had the same problem?
I don't think the problem is in the model
Thanks in advance
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