# User talk:Mtxu

### From Wikimization

Hello,

I'm Maria Calle,

I have a question about CVX and how to work with.

I'm a student from Spain. I'm studying engineering in automatic control. I'm in my last year and I'm making a project of investigacion. It's about LQR and how to synthesize the weighting matrix Q and R by pole assignment.

To make a program about it, I'm reading the article: Linear Quadratic Optimal Output Feedback Control For Systems With Poles In A Specified Region, Lisong Yuan, Luke E. K. Achenie, Weisun Jiang. [1]

To initializate the gain matrix they say that they apply the method described in the article:

they said that it's necessary to solve by convex programm. Until last week I didn't knew anything about convex program.

I have a system, A, B and C. It have to move poles to one region, for it, I make a transform to the original system. (A_alfa, B_alfa, C_alfa).

I have to know the gain matrix, with is:

It's knew that:

.

.

.

and

.

The ecuation must:

subject to:

with

and:

Now the article says that aplaing the convex programm, it posible to solve the ecuation.

They present the next algoritm: 1) Initialization

2)Calculate

3)if

STOP

Else

calculate eigenvalues(v_w y v_Hij).

calculate the constraint linear: C1(W,R)

if

if

4)Solve

under

Now I have no idea of how to continue, or how to program the algoritm.

They said the method for solving it's mathematical convex program.

Thanks a lot for all, Greetings.