Is there lqid() ? Lqr() has lqrd(), but I can't find lqid()

Is there lqid()?

Lqr() (continuous-time) has lqrd() (discrete-time), but I can't find lqid().

Is lqi() overloaded for discrete, or am I just trying for the wrong function name for discrete lqi?

Answer 1

[John]

To answer my own question, after writing to mathworks:

lqr() has lqrd(), but there isn't an equivalent for lqi(). lqi() is overloaded and accepts discrete system, and returns discrete gains. I missed that in the documentation.

I'm not sure why lqr() has different versions, but, hopefully this helps anyone else wondering.

[Paul]

lqr is also overloaded and can accept discrete- or continuous-time system as the sys input. lqrd isn't the same as lqr() with a discrete sys input. The Q and R and N matrices mean different things for the two functions.