MATLAB: How to input result looping/iteret (for) to a existing matrix

controlfor loopgainhelpinput matrixinput result for loop to matrixlooplqrMATLABmatrix

how to simple the code below with looping logic(for)? if I have Matrix A(4×4) Bu(4×1)
R=[510.5];
N=[0; 0; 0; 0];
for n = 1:6
x(n)=1650+(1100*(n-1))
end
for nn=1:6
X0=x(1,1)
X1=x(1,2)
X2=x(1,3)
X3=x(1,4)
X4=x(1,5)
X5=x(1,6)
%% Matrix Q
Q0=[760 0 0 0; 0 70 0 0; 0 0 X0 0; 0 0 0 0.001];
Q1=[760 0 0 0; 0 70 0 0; 0 0 X1 0; 0 0 0 0.001];
Q2=[760 0 0 0; 0 70 0 0; 0 0 X2 0; 0 0 0 0.001];
Q3=[760 0 0 0; 0 70 0 0; 0 0 X3 0; 0 0 0 0.001];
Q4=[760 0 0 0; 0 70 0 0; 0 0 X4 0; 0 0 0 0.001];
Q5=[760 0 0 0; 0 70 0 0; 0 0 X5 0; 0 0 0 0.001];
%% LQR calculate
[K0,S0,e0] = lqr(A,Bu,Q0,R,N);
[K1,S1,e1] = lqr(A,Bu,Q1,R,N);
[K2,S2,e2] = lqr(A,Bu,Q2,R,N);
[K3,S3,e3] = lqr(A,Bu,Q3,R,N);
[K4,S4,e4] = lqr(A,Bu,Q4,R,N);
[K5,S5,e5] = lqr(A,Bu,Q5,R,N);
%% LQR result gain
Klqr0=-K0;
Klqr1=-K1;
Klqr2=-K2;
Klqr3=-K3;
Klqr4=-K4;
Klqr5=-K5;

Best Answer

  • I can suggest the following ways-
    1. Computing Q0, Q1, ..., Q5 values in a for-loop using a single array where the values of X(i) are replaced, say Q.
    2. Use a for-loop to call lqr on each element of Q and store the result in each element of an array K.
    3. Directly negate the array K at the end instead of negating each element and storing in a new variable.
    By the way, your for-loop with 'nn' as the iterating variable seems incomplete, as there is no corresponding 'end' keyword for it. Moreover, you have not used the variable 'nn' anywhere below the declaration of the for-loop, so I suggest following the 3 suggestions above and properly encapsulating your code in for-loops.