The Velocity Algorithm LQR: a survey

@inproceedings{Pannocchia2001TheVA,
  title={The Velocity Algorithm LQR: a survey},
  author={Gabriele Pannocchia and James B. Rawlings},
  year={2001}
}
In this report the velocity algorithm ‐ the one the computes the input change given the state change and the current measurement ‐ is studied under the general framework of LQ regulators. Similarities and dierences with the standard algorithm are discussed in order to 

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