Matlab/Octave toolbox for structurable and robust output-feedback LQR design
Paper in proceedings, 2018

In this paper, a structurable robust output-feedback infinite horizon LQR design toolbox for Matlab and Octave is introduced. The aim of the presented toolbox is to fill the gap between available toolboxes for Matlab/Octave by extending the standard infinite horizon LQR design (from Matlab/Control System Toolbox, Octave/Control package) to robust and structurable output-feedback LQR design. The toolbox allows to design a robust infinite horizon output-feedback controller in forms like proportional (P), proportional-integral (PI), realizable proportional-integral-derivative (PID), realizable proportional-derivative (PD), realizable derivative (D), dynamic output-feedback (DOF), dynamic output-feedback with integral part (DOFI), dynamic output-feedback with integral and realizable derivative part (DOFID), and dynamic output-feedback with realizable derivative part (DOFD). In addition, the controller structure for all supported controller types is fully structurable. The toolbox relies on Yalmip (A Matlab/Octave Toolbox for Modeling and Optimization) and on linear matrix inequality solvers like SeDuMi, SDPT3, etc. Notions like "simple", "highly customizable", and "user-friendly" have been used and considered as main terms during the development process.

Robust control


Structured controller.

Linear quadratic regulator


Adrian Ilka

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Preprints of the 3rd IFAC Conference on Advances in Proportional- Integral-Derivative Control

2405-8963 (ISSN)

Vol. 51 4 598-603

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control
Ghent, Belgium,

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