Optimal Choice of Weighting Factors in Adaptive Linear Quadratic 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 ...

Phase Lag and Lead Weighting in Linear-quadratic Control

The use of frequency-weighted performance indices in linear quadratic (LQ) optimal control has been the subject of recent r e ~ e a c h ' ~ . The primary motivation for frequency-weighting is the possibility of enhancing the robustness of LQ designs in critical frequency bands. A preliminary study3 of the case where high frequencies in the control are weighted more heavily has shown that the op...

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...