alexlqg.m

1)LQG design of an unmanned helicopter 2) LQR control of an unmanned helicopter 3) speed torque ch

%sys1=lqgreg(kalmf,F)
%LQG Control Design
RSYS = reg(sys_pl,F,Ke)

time=0:0.01:2;%simulation time
u=initial(RSYS,x0,time);

u1=[1 0 0 0]*u';
u2=[0 1 0 0]*u';
u3=[0 0 1 0]*u';
u4=[0 0 0 1]*u';

subplot(2,2,1);hold on;plot(time,u1);grid
xlabel('t(sec)');ylabel('u1')
  
subplot(2,2,2);hold on;plot(time,u2);grid
xlabel('t(sec)');ylabel('u2')
        
subplot(2,2,3);hold on;plot(time,u3);grid
xlabel('t(sec)');ylabel('u3')

subplot(2,2,4);hold on;plot(time,u4);grid
xlabel('t(sec)');ylabel('u4')