《反馈控制系统 Feedback Control Systems》（英文版） 16.31 topic22a

Fall 2001 16.3122-12 Weighting Matrix Selection a good rule of thumb when selecting the weighting matrices Rxx (or Ru and R uu is to normalize the signals 2 max Ruu Imax m丿max The(i)max and (ui max represent the largest desired response/control input for that component of the state/ actuator signal The ai and Bi are used to add an additional relative weighting on the various components of the state/control

Fall 2001 16.31 22–12 Weighting Matrix Selection • A good rule of thumb when selecting the weighting matrices Rxx (or Rzz) and Ruu is to normalize the signals:      Rxx =           R  uu =     α2 1 (x1)2 max α2 2 (x2)2 max ... α2 n (xn)2 max β2 1 (u1)2 max β2 2 (u2)2 max ... β2 m (um)2 max                     • The (xi)max and (ui)max represent the largest desired response/control input for that component of the state/actuator signal. • The αi and βi are used to add an additional relative weighting on the various components of the state/control