Abstract
The generalized dynamic inversion (GDI) control methodology for linear state equality constraints (LSECs) enforcement is utilized in partial eigenstructure assignment (EA) on LQ regulators for continuous LTI dynamical systems. The problem is formulated by prescribing a set of LSEC equations that resemble the desired partial eigenstructure of the LQR control system. Applying GDI control on the LSEC equations along the trajectories of the LTI system reduces the differential-algebraic form of the constrained LTI dynamics to an equivalent pure differential form that is controlled by the null control vector (NCV) of the GDI control law, where the desired partial eigenstructure is invariant under the NCV design in the modified formulation. The NCV is designed to minimize the LQR cost functional, and the corresponding LQR static gain matrix is obtained by solving a classical matrix Algebraic Riccati Equation. The control system reveals a new separation principle of constraint enforcement from cost functional optimization. Application to lateral aircraft motion control is conducted.
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