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Multivariable Control: Weight Design and Stability Analysis
This lecture covers the design of weights Q and R for multivariable control systems, focusing on stability analysis using Lyapunov theory and the solution to the Algebraic Riccati Equation. The instructor discusses the importance of observability, stabilizability, and detectability in the context of control design, providing insights into the Lyapunov stability theory and the stability of Linear Quadratic Regulators (LQR). Various control strategies and open problems in control theory are also addressed, such as the IH-LQ control law and the Schur stability of closed-loop systems.