The explicit linear quadratic regulator for constrained systems


For discrete-time linear time invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly, the state feedback control law which minimizes a quadratic performance criterion. We show that the control law is piece-wise linear and continuous for both the "nite horizon problem (model predictive control) and the usual… (More)
DOI: 10.1016/S0005-1098(01)00174-1


7 Figures and Tables


Citations per Year

1,730 Citations

Semantic Scholar estimates that this publication has 1,730 citations based on the available data.

See our FAQ for additional information.