How can the lqr function in matlab be modified so that the 2*x'Nu term in the cost function J be replaced with a scalar value?

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Hi,
I am trying to replicate a research paper which uses a scalar value for the term 2*x'Nu term in the cost function J(u). The paper states it also uses Matlab. I'm not sure how to pass a scalar value into the in-built lqr function in Matlab that only accepts matrices. Thanks in advance

Accepted Answer

Torsten
Torsten on 29 Jun 2022
Edited: Torsten on 29 Jun 2022
I wonder why the integral should be finite if you replace 2*x'*N*u by a fixed scalar value. This scalar value must definitely be 0.
Thus set N to the zero matrix.
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