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Concept

Linear–quadratic regulator

Related lectures (32)

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Explores Linear Quadratic optimal control, analyzing cost, and presenting the solution to the FH-LQ problem.

Linear Quadratic (LQ) Optimal Control: Proof of Theorem

Covers the proof of the recursive formula for the optimal gains in LQ control over a finite horizon.

Linear Quadratic Regulator Example

Covers an example of computing a linear controller to minimize closed-loop performance.

Multivariable Control: Weight Design and Stability Analysis

Explores weight design and stability analysis in multivariable control systems, emphasizing Lyapunov theory and LQR stability.

Linear Quadratic Optimal Control: Theory and Applications

Explores Linear Quadratic optimal control theory, covering FH-LQ and IH-LQ problems and the importance of observability in control systems.

Multivariable Control: Stability and Lyapunov Theorems

Explores multivariable control, optimal laws, and system stability theorems, emphasizing the importance of observability.

Multivariable Control: State Estimation and Disturbance Rejection

Covers the design of estimators and controllers for multivariable systems, focusing on state estimation and disturbance rejection.

State Representation and Controller Design

Covers state representation, controller design, LQR controllers, and optimal control criteria.

Multivariable Control: System Theory and Applications

Covers system theory, classic feedback control, and applications in green building and natural gas refrigeration plants.

Optimal Control and State Estimation

Covers the design of a regulator and state estimator for optimal control.

Observability and Governability

Explores observability, governability, state regulators, and canonical forms in dynamic systems.

StateSpace Reference Tracking

Covers reference tracking in state-space systems and implementing control laws.

StateSpace ControlDesign

Explores full state feedback control design, focusing on pole placement and linear state-feedback controller design for systems like a pendulum.

Optimal Control: Linear Quadratic Regulation

Explores linear quadratic regulation for optimal control of linear systems, focusing on minimizing a quadratic cost function to move the system state towards zero.

Linear Quadratic Regulator Theory

Covers the Linear Quadratic Regulator theory for optimal control of multivariable systems.

Distributed LQR Control Design

Introduces a suboptimal distributed LQR design for physically coupled systems with stability guarantees and simulation comparisons.

Preserving Movement Variability in Robotic Training

Explores the use of Model Predictive Controllers in robotic training to preserve movement variability and support motor learning.

StateSpace Pole Locations

Discusses selecting pole locations in state-space control systems to meet time-domain specifications and minimize control effort.

Gradient Descent for LQR Controllers

Covers the computation of cost function for multivariable control systems using the LQR framework and applying gradient descent for controller improvement.