Abstract
A number of suboptimal linear regulator design strategies is discussed and it is shown that they may be incorporated within a general problem formulation. It is therefore possible to adopt a common numerical approach to the solution of these problems and a gradient minimization technique is selected as the solution method following a study of four alternative schemes. This method requires the solution of a pair of Liapunov matrix equations during each iterative step and it is found that these equations are best solved by application of the Bartels-Stewart algorithm. An interactive CAD program has been developed and it functions both as a design tool and as a research aid. As a design tool it offers access to a number of existing design strategies, provides added flexibility in the choice of controller configuration and enables different strategies to be merged to form an effective overall design procedure. As a research aid the program is easily modified to include new controller configurations or test new performance index specifications; it may also be extended to handle linear discrete-time systems and linear stochastic systems.
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