Linear Quadratic Regulator Controller Design

Abstract

In this chapter, an optimal controller is designed using the linear quadratic regulator (LQR) method. In order to better evaluate the effect of disturbances on the obtained measurements, a Kalman filter is used. Initially, the controller is tested for a case where disturbances are absent. Then, a Kalman filter is designed and the system under disturbances is tested with the designed controller and filter. The results reveal the effectiveness of the Kalman filter and LQR controller.