state space model with constant term
If i linearize a nonlinear system model of the form dx/dt=f(x,u) so that it can be written in the form dx/dt=Ax+Bu+constant What is the best way to handle the constant if I want to create an lqr regulator or an observer? For example the system below? A=[0 1 0;0 0 1;0 0 0] B=[0;0;1] Constant=[0;1;0]
John Michell answered .
2025-11-20
You can consider a constant as a disturbance signal. You can calculate your lqr regulator without this constant, but you should add to your system an integrator which will eliminate the effect of any disturbance signal. (m integrators for m outputs)