Hello ,

I am using Matlab for solving Riccati matrix in Lqr control with the command x=are(a,b,c). Where x is the solution of the Riccati matrix and a=A the system matrix, b=B*inv(R)*B' and C=Q. Matlab solves LQR control for this formula A'*Mo + Mo*A - Mo*B*inv(R)*B'*Mo + Q=0. Where Mo is the solution of the Riccati matrix. I need to solve the equation for A'*Mo + Mo*A -1/2* Mo*B*inv(R)*B'*Mo + 2*Q=0 . When I define a=A, b=1/2*B*inv(R)*B' and C=2*Q i couldnt get the correct Riccati matrix. Are there any one who can help me about this topic. I would be grateful for any help.

Thanks