A Note on Linear Quadratic Regulator and Kalman Filter
Optimization and Control
2023-08-31 v1 Systems and Control
Systems and Control
Abstract
Two central problems in modern control theory are the controller design problem: which deals with designing a control law for the dynamical system, and the state estimation problem (observer design problem): which deals with computing an estimate of the states of the dynamical system. The Linear Quadratic Regulator (LQR) and Kalman Filter (KF) solves these problems respectively for linear dynamical systems in an optimal manner, i.e., LQR is an optimal state feedback controller and KF is an optimal state estimator. In this note, we will be discussing the basic concepts, derivation, steady-state analysis, and numerical implementation of the LQR and KF.
Keywords
Cite
@article{arxiv.2308.15798,
title = {A Note on Linear Quadratic Regulator and Kalman Filter},
author = {Midhun T. Augustine},
journal= {arXiv preprint arXiv:2308.15798},
year = {2023}
}
Comments
12 pages, 4 figures, tutorial article