CDS 110b: Linear Quadratic Regulators: Difference between revisions
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== Lecture Materials == | == Lecture Materials == | ||
* Lecture Presentation | * {{cds110b-pdfs|L2-1_LQR.pdf|Lecture Presentation}} ({{cds110b-mp3s|L2-1_LQR.mp3|MP3}}) | ||
* {{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}} | ||
== References and Further Reading == | == References and Further Reading == | ||
Revision as of 15:55, 12 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
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.
