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Time-Invariant Control in LQ Optimal Tracking: An Alternative to Output Regulation
2021
We propose a new time-invariant control for linear quadratic tracking problems with references and disturbances generated by linear exo-systems. The control consists of a static feedback and a static pre-filter similar as in output regulation theory (ORT). Instead of forcing the tracking error to converge to zero, a tolerated steady-state error is balanced against the necessary input-energy via a quadratic cost. For the first time in this context, we deduce a time-invariant control from
doi:10.26083/tuprints-00019112
fatcat:x3c6gfmvnrdohkuhy65mtqur3i