21.6 LQR

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- Linear Quadratic Regulator (LQR) allows the design of a regulating system that tends to zero, but also considers the control effort.

- The basic function for evaluating the controller is defined below. The integral is evaluated to reduce the value. Ideally the state value will go to zero (it is a regulator), and the plant input will be minimized. It is assumed that D=0. Here a new state 'z' is defined. It should reflect the system state values that should be regulated to zero.

- the design process involves adjusting the r value to obtain the desired result.

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