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Engineering · L5 · LQR Closed-Loop Architecture

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Block diagram showing state-feedback control, the Riccati solve, and the resulting closed-loop system.

by @openstemUpdated Engineering
Reference / disturbance+Plant: ẋ = Ax + BuState xGain: u = −KxOutput / costSolve ARE: AᵀP+PA−PBR⁻¹BᵀP+Q=0K = R⁻¹BᵀP

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