In this video we introduce the linear quadratic regulator (LQR) controller. We show that an LQR controller is a full state feedback controller where the gain matrix K is computed by solving an optimization problem.
Topics and time stamps:
0:00 - Introduction
4:01 - Introduction to Optimization
19:24 - Setting up the cost function (Q and R matrices)
41:36 - Solving the Algebraic Ricatti Equation
1:01:05 - Example of LQR in Matlab
1:17:09 - Using LQR to address practical implementation issues with full state feedback controllers
Lecture notes and code can be downloaded from https://github.com/clum/YouTube/tree/main/Controls05
In addition, some videos that may be helpful or relevant to the discussion at hand include:
-Introduction to Full State Feedback Control (https://youtu.be/1zIIcYfp5QA)
-Practical Implementation Issues with a Full State Feedback Controller (https://youtu.be/9vCTokJ5RQ8)
-Introduction to Linear State Estimation (TBD)
All Control Theory videos in a single playlist (https://www.youtube.com/playlist?list=PLxdnSsBqCrrF9KOQRB9ByfB0EUMwnLO9o)
#Control #ControlTheory
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