CDS 110b: Linear Quadratic Regulators: Difference between revisions
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== References and Further Reading == | == References and Further Reading == | ||
* Friedland, Ch 9 - this is the assigned reading for this lecture. The derivation of the LQR controller is done differently, so it gives an alternate approach. | |||
* Lewis and Syrmos, Section 3.4 - this follows the derivation in the notes above. I am not putting in a scan of this chapter since the course text is available, but you are free to have a look via [http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books]. | |||
== Frequently Asked Questions == | == Frequently Asked Questions == | ||
Revision as of 00:29, 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.
References and Further Reading
- Friedland, Ch 9 - this is the assigned reading for this lecture. The derivation of the LQR controller is done differently, so it gives an alternate approach.
- Lewis and Syrmos, Section 3.4 - this follows the derivation in the notes above. I am not putting in a scan of this chapter since the course text is available, but you are free to have a look via Google Books.
