ud Rs −ωr Ls id L 0 d id 0
= + s +
uq ωr Ls Rs iq 0 Ls dt iq ωr ψf

ẋ = Ax + Bu + W
y = Cx

ẋ = Ax + Bu + W
" #
−R s
Ls ωr
A=
−ωr −RLs
s

 1 
Ls 0
B=
0 L1s
 
1 0
C=
0 1
 
0
W = ωr
−L s
ψf
 
0
W = ωr
−L s
ψf

x(t) = (I + At)x0 + (Bu + W )t

e(t) = C(x∗ − x)
= C [x∗ − (I + At)x0 − (Bu + W )t]
= x∗ − (I + At)x0 − (Bu + W )t

J = Jf + Je + Ju
Z tf Z tf
1 T 1 1
= e (tf )Le(tf ) + eT Qe dt + uT Ru dt
2 2 t0 2 t0

Jf 0 = x∗ − (I + ATs )x0 − W Ts
Jf 1 = −BTs

1 T
Jf = e (tf )Le(tf )
2
1
= (Jf 1 u + Jf 0 )T L(Jf 1 u + Jf 0 )
2

1
 Je0 = x∗ − x0
Je1 = −Ax0 − W
Je2 = −B

Z Ts
1
Je = eT Qe dt
2 0
Z Ts
1
= (Je0 + Je1 t + Je2 ut)T Q(Je0 + Je1 t + Je2 ut) dt
2 0

1 Ts T
Z
Ju = u Ru dt
2 0
1
= uT RuTs
2

= Ts B T L [Ts Bu − x∗ + (I + ATs )x0 + W Ts ]

Ts2 T T3
=− B Q(x∗ − x0 ) + s B T Q (Ax0 + W + Bu)
2 3

∂2J T3 T
2
= JfT1 LJf 1 + s Je2 QJe2 + Ts R > 0
∂u 3

 ∗
 Nd1 + Nd2 
u Dd
u∗ = d∗ =  N + N
 
uq q1 q2 + Nq3

Dq

∂J ∂Jf ∂Je ∂Ju

= + +
∂u ∂u ∂u ∂u
= Ts B T L [Ts Bu − x∗ + (I + ATs )x0 + W Ts ]
Ts2 T T3
− B Q(x∗ − x0 ) + s B T Q (Ax0 + W + Bu)
2 3
+ Ts Ru

Ts3 T
M = Ts2 B T LB + B QB + Ts R
3

N = Ts B T L [x∗ − (I + ATs )x0 − Ts W ]

Ts2 T T3
+ B Q(x∗ − x0 ) − s B T Q (Ax0 + W )
2 3

2
 ẋ(t) = A(t)x(t) + B(t)u(t)
y(t) = C(t)x(t)

J = Jf + Je + Ju
Z tf Z tf
1 T 1 1
= e (tf )Le(tf ) + eT (t)Qe(t) dt + uT (t)Ru(t) dt
2 2 t0 2 t0

−Ṗ (t) = P (t)A(t) + AT (t)P (t) − P (t)B(t)R−1 (t)B T (t)P (t) + Q(t)
P (tf ) = F (t)

u∗ (t) = −R−1 (t)B T (t)P (t)x(t)

P̄ A + AT P̄ − P̄ BR−1 B T P̄ + Q = 0

u∗ (t) = −R−1 B T P x(t)