NASA NTRS · 19900053759
Design of LQG controllers with reduced parameter sensitivity
Abstract
A method is presented for improving the tolerance of LQG controllers to parameter errors. The improvement is achieved by introducing terms reflecting the structure of the errors into the LQR cost function and the process and measurement noise models. Adjusting the sizes of these additional terms permits a tradeoff between robustness and nominal performance.
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Lin, J. Y., Mingori, D. L.. 1989-01-01. Design of LQG controllers with reduced parameter sensitivity. https://ntrs.nasa.gov/citations/19900053759
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