Lecture #9: LQR, trajectory tracking

Date: Monday, 29 Apr 96

Outline:

A. LQR
   1. Cost function
   2. Solution via Ricatti equation

B. Trajectory tracking with state space controllers
   1. Subtract off desired dynamics to get error system
   2. Error dynamics = plant dynamics for linear systems
   3. Need feedforward to get good results
   4. Remarks: hacks used when full feedforward is not available

C. Implementation notes for ducted fan
   1. Description of the software interface for trajectories

Next time: LQG