Weighting parameters for optimal Q and R matrices

Power law exponent (n)

0

1

100

X1 (102)

9.79

1.13

0.80

X2 (102)

5.45

8.29

9.40

X3

0.0011

0.0016

1.08

Closed loop Damping ratio

0.052

0.063

0.089