CDS 110b: Linear Quadratic Regulators: Difference between revisions
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* Lecture Presentation | * Lecture Presentation | ||
* {{cds110b-pdfs|lqr.pdf|Lecture notes on LQR control}} | * {{cds110b-pdfs|lqr.pdf|Lecture notes on LQR control}} | ||
* {{cds110b-pdfs|hw2.pdf|Homework 2}} | * {{cds110b-pdfs|hw2.pdf|Homework 2}} - '''Note:''' this homework set should be considered in draft form until class on Wed, 11 Jan. | ||
== References and Further Reading == | == References and Further Reading == | ||
== Frequently Asked Questions == | == Frequently Asked Questions == | ||
Revision as of 00:26, 8 January 2006
See current course homepage to find most recent page available. |
| Course Home | L7-2: Sensitivity | L8-1: Robust Stability | L9-1: Robust Perf | Schedule |
This lecture provides a brief derivation of the linear quadratic regulator (LQR) and describes how to design an LQR-based compensator. The use of integral feedback to eliminate steady state error is also described.
Lecture Outline
- Derivation of the LQR regulator
- Choosing LQR weights
- Incorporating a reference trajectory
- Integral feedback
- Design example
Lecture Materials
- Lecture Presentation
- Lecture notes on LQR control
- Homework 2 - Note: this homework set should be considered in draft form until class on Wed, 11 Jan.
