A Data-Driven Algorithm for Model-Free Control Synthesis
Optimization and Control
2026-02-16 v1 Robotics
Systems and Control
Systems and Control
Abstract
Presented is an algorithm to synthesize the optimal infinite-horizon LQR feedback controller for continuous-time systems. The algorithm does not require knowledge of the system dynamics but instead uses only a finite-length sampling of arbitrary input-output data. The algorithm is based on a constrained optimization problem that enforces a necessary condition on the dynamics of the optimal value function along any trajectory. In addition to calculating the standard LQR gain matrix, a feedforward gain can be found to implement a reference tracking controller. This paper presents a theoretical justification for the method and shows several examples, including a validation test on a real scale aircraft.
Keywords
Cite
@article{arxiv.2602.13157,
title = {A Data-Driven Algorithm for Model-Free Control Synthesis},
author = {Sean Bowerfind and Matthew R. Kirchner and Gary Hewer},
journal= {arXiv preprint arXiv:2602.13157},
year = {2026}
}