# control.matlab.lqr¶

control.matlab.lqr(A, B, Q, R[, N])

The lqr() function computes the optimal state feedback controller that minimizes the quadratic cost

The function can be called with either 3, 4, or 5 arguments:

• lqr(sys, Q, R)

• lqr(sys, Q, R, N)

• lqr(A, B, Q, R)

• lqr(A, B, Q, R, N)

where sys is an LTI object, and A, B, Q, R, and N are 2d arrays or matrices of appropriate dimension.

Parameters
• A (2D array) – Dynamics and input matrices

• B (2D array) – Dynamics and input matrices

• sys (LTI (StateSpace or TransferFunction)) – Linear I/O system

• Q (2D array) – State and input weight matrices

• R (2D array) – State and input weight matrices

• N (2D array, optional) – Cross weight matrix

Returns

• K (2D array (or matrix)) – State feedback gains

• S (2D array (or matrix)) – Solution to Riccati equation

• E (1D array) – Eigenvalues of the closed loop system

lqe
The return type for 2D arrays depends on the default class set for state space operations. See use_numpy_matrix().
>>> K, S, E = lqr(sys, Q, R, [N])