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LQR Optimization and Control Techniques: A Guide to the Algebraic Riccati Equation

This chapter from Dr. Hatem Elaydi's course at the Islamic University of Gaza delves into Linear Quadratic Regulator (LQR) optimization techniques. It presents key concepts, including Lagrange multipliers, Hamiltonian equations, and the Riccati equation. Sequential examples illustrate the computation of optimal control strategies and the feedback control matrix. The chapter also discusses the existence and uniqueness of solutions as well as robustness in control systems, providing a comprehensive understanding of optimal control methodologies.

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LQR Optimization and Control Techniques: A Guide to the Algebraic Riccati Equation

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  1. Chapter 6- BurlOptimal Quadratic Control Islamic University of Gaza EE Department Dr. Hatem Elaydi Spring 2012

  2. 6 LQR

  3. 6.1 Optimization

  4. Example 6.1

  5. 6.1.2 Lagrange Multiplier

  6. Example 6.2

  7. 6.2 LQR

  8. 6.2.1 The Hamiltonian equations

  9. Example 6.3

  10. 6.2.2 The Riccati equation

  11. Example 6.4

  12. 6.2.3 Computation of the optimal control

  13. Example 6.4

  14. 6.2.4 The selection of the weighting function

  15. 6.3 Steady-state LQR

  16. Example 6.5

  17. Example 6.6

  18. 6.3.1 Computation of the feedback control matrix

  19. 6.3.2 Existence and Uniqueness

  20. 6.3.3 Robustness

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