View source for OBC: Optimal Control

{{obc header|Trajectory Generation and Tracking|Optimal Control|Receding Horizon Control}}
This set of notes expands on {{chlink|State Feedback}} of the main text, which introduces the concepts of reachability and state feedback. We also expand on topics in [[Output Feedback|Section 7.5]] in the area of feedforward compensation. Beginning with a review of optimization, we introduce the notion of Lagrange multipliers and provide a summary of the 
Pontryagin’s maximum principle. Using these tools we derive the linear quadratic regulator for linear systems and describe its usage. 
* {{am08 pdf|obc09-optimal|04Jan09|Chapter PDF}} (4 Jan 09)