Linear Quadratic Optimal Control: Analysis and Solution

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Description

This lecture covers Linear Quadratic (LQ) optimal control over a finite horizon, including the definition of the problem, analysis of the cost, and the recursive formula for the optimal gains. It delves into the Difference Riccati Equation and the properties of Q, S, R matrices. The solution to the FH-LQ problem is presented, discussing the unique control law, the computation of control gains, and the Difference Riccati Equation. The stability of the closed-loop system and the proof of the theorem regarding the minimization of quadratic forms are also explained.

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Related concepts (32)

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Optimal control theory is a branch of mathematical optimization that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the moon with minimum fuel expenditure.

Linear–quadratic regulator

The theory of optimal control is concerned with operating a dynamic system at minimum cost. The case where the system dynamics are described by a set of linear differential equations and the cost is described by a quadratic function is called the LQ problem. One of the main results in the theory is that the solution is provided by the linear–quadratic regulator (LQR), a feedback controller whose equations are given below. LQR controllers possess inherent robustness with guaranteed gain and phase margin, and they also are part of the solution to the LQG (linear–quadratic–Gaussian) problem.

Model predictive control

Model predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s. In recent years it has also been used in power system balancing models and in power electronics. Model predictive controllers rely on dynamic models of the process, most often linear empirical models obtained by system identification.

Closed-loop controller

A closed-loop controller or feedback controller is a control loop which incorporates feedback, in contrast to an open-loop controller or non-feedback controller. A closed-loop controller uses feedback to control states or outputs of a dynamical system. Its name comes from the information path in the system: process inputs (e.g., voltage applied to an electric motor) have an effect on the process outputs (e.g., speed or torque of the motor), which is measured with sensors and processed by the controller; the result (the control signal) is "fed back" as input to the process, closing the loop.

Isotropic quadratic form

In mathematics, a quadratic form over a field F is said to be isotropic if there is a non-zero vector on which the form evaluates to zero. Otherwise the quadratic form is anisotropic. More explicitly, if q is a quadratic form on a vector space V over F, then a non-zero vector v in V is said to be isotropic if q(v) = 0. A quadratic form is isotropic if and only if there exists a non-zero isotropic vector (or null vector) for that quadratic form. Suppose that (V, q) is quadratic space and W is a subspace of V.