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LQR - Tracker design problem

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scoppulal

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hi all,
need some help with lqr - tracker problem.

I have a MIMO system:
2 input - 4 state, i've got a tracker problem with the two inputs.

The system is linearized.

I'm not able to find R and Q matrix that let all system perform as requested. Only one manouver at time produces good performances,
but i need them to perform well at the some time.

Any suggestion about that is appreciated.

thanks in advance
 

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