The software then adjusts the parameter values to minimize f(x) or to drive f(x) below 1 if
the tuning goal is a hard constraint.For LQR/LQG Goal, f(x) is given by the cost function J:J = E(z(t)′ Qz z(t)).When you use the LQG requirement as a hard goal, the software tries to drive the cost
function J < 1. When you use it as a soft goal, the cost function J is minimized subject to
any hard goals and its value is contributed to the overall objective function. Therefore,
select Qz values to properly scale the cost function so that driving it below 1 or
minimizing it yields the performance you require.See Also
Related Examples
- “Specify Goals for Interactive Tuning” on page 10-39
- “Manage Tuning Goals” on page 10-177
10 Control System Tuning