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LQG tracker... MIMO System... MATLAB LQGTRACK

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Hi, I'm working on a MIMO system. It has 4 inputs and 3 outputs. I need system's outputs to track input reference trajectories. I've been asked by my advisor to use LQG tracker. I have got the general idea but not able to implement it. I need quick help on this. Trajectories to be followed are: https://i46.tinypic.com/25g5s41.jpg and the natural response of the system is: https://i50.tinypic.com/vfdu3d.jpg... Anticipating a quick response!
 

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