Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG
Author(s)
Ching, Shinung; Kabamba, Pierre T.; Meerkov, Semyon M.
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The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.
Date issued
2010-01Department
Massachusetts Institute of Technology. Department of Brain and Cognitive SciencesJournal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
ShiNung Ching, P.T. Kabamba, and S.M. Meerkov. “Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG.” IEEE Transactions on Automatic Control 55.1 (2010): 217–221. Web. 4 Apr. 2012. © 2010 Institute of Electrical and Electronics Engineers
Version: Final published version
Other identifiers
INSPEC Accession Number: 11055080
ISSN
0018-9286
1558-2523