Park, Jung Hun (Seoul National Univ.), Han, Soohee (Seoul National Univ.), Kwon, Wook Hyun (Seoul National Univ.)

Closed-Form Solution of Linear Quadratic Tracking Control with Fixed Terminal State

Scheduled for presentation during the Regular Session "Model Predictive Control II" (TuA10), Tuesday, July 25, 2006, 12:05−12:30, Room 103

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 27, 2023

Abstract

In this paper, the finite horizon linear quadratic tracking control (FHLQTC) with a fixed terminal state is proposed in a closed form for a linear time-invariant (LTI) discrete-time system. The FHLQTCs are to minimize finite horizon quadratic cost functions while driving the terminal state exactly to the given fixed reference value. The proposed FHLQTC is obtained in two forms: a recursive form and a batch form. The FHLQTC is applied to the receding horizon linear quadratic tracking control (RHLQTC) with guaranteed stability. It is shown through simulation that the proposed FHLQTC follows the given reference signal well and finally moves the terminal state exactly to the given destination.