Abstract
AbstractIn this contribution we consider linear quadratic regulator problems subject to parameter perturbations within the system dynamics. Due to the perturbations, optimality of the regulator would be lost. Iteratively recomputing the optimal feedback matrix is likely to be too costly for real‐time applications, but approximated updates using parametric sensitivities can be efficiently derived. Online parameter identification is applied in order to obtain current parameter perturbations to which the controller shall be adapted. Numerical results for the benchmark example of the inverted pendulum on a cart are discussed.
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