Multi-Input Deadbeat Linear-Quadratic Optimal Control

Optimal Linear Quadratic Control

Linear Quadratic Optimal Control

In previous lectures, we discussed the design of state feedback controllers using using eigenvalue (pole) placement algorithms. For single input systems, given a set of desired eigenvalues, the feedback gain to achieve this is unique (as long as the system is controllable). For multi-input systems, the feedback gain is not unique, so there is additional design freedom. How does one utilize this...

Piecewise linear quadratic optimal control

The use of piecewise quadratic cost functions is extended from stability analysis of piecewise linear systems to performance analysis and optimal control. Lower bounds on the optimal control cost are obtained by semi-definite programming based on the Bellman inequality. This also gives an approximation to the optimal control law. An upper bound to the optimal cost is obtained by another convex ...

Linear Quadratic Control with Input Saturation

This paper studies a new approach to linear quadratic control for linear systems with input saturation. Our work presents an optimal sector bound to model the mismatch between the unsaturated controller and saturated one and an optimised control design associated with this sector bound. This leads to a new characterisation of invariant sets and new switching controllers. The main outcome of thi...

Linear-Quadratic Optimal Controller 10.3 Optimal Linear Control Systems

In Chapters 8 and 9 of this book we have designed dynamic controllers such that the closed-loop systems display the desired transient response and steady state characteristics. The design techniques presented in those chapters have sometimes been limited to trial and error methods while searching for controllers that meet the best given specifications. Furthermore, we have seen that in some cas...