LQRr Real-Time Control For Plants With Variable Parameters

Abstract

This paper deals with real-time optimal LQR control of plants that experience sudden changes in their parameters and states. The technique is based on real-time LQR control problem. Riccati equation is solved recursively on line forward in time. The controller's gains are adjusted in real-time according to changes in system parameters and states. The technique is useful for controlling plants that undergo real-time sudden changes in their parameters and states. The approach is tested on several examples.