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Control & dynamics
12 Jul 2023

Applied Optimal Control(05) - Linear Quadratic Regulator Basics

Keypoints:

  • Finite-Time LQR
    • Representations of different matrix and how to convert them
    • Ricatti equation
    • Stability of state feedback controller
    • Optimal cost
  • Infinite-Time LQR
  • Trajectory Tracking

Based on the lecture notes by Dr. Marin Kobilarov on “Applied Optimal Control (2021 Fall) at Johns Hopkins University

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