정상상태 추적편차를 고려한 가중행렬의 선택

A method for deciding weighting matrices by considering a steady-state deviation in a LQ tracking problem

Quadratic weighting matrices have an effect on the transition and steady state responses in a LQ tracking problem. They are usually decided on trial and error in order to get a good response. In this paper a method is presented which calculates a steady - state deviation without solving Riccati equation. By using this method, a new procedure for selecting the weighting matrices is proposed when a tolerance on the steady - state deviation is given.