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《Journal of Projectiles,Rockets,Missiles and Guidance》 2007-04
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LQR Parameter Regulate Using Recursive Least Square

LI Xiang-qing,SUN Xiu-xia,WANG Dong,LI Shi-bo,LIU Yan-fang(The Engineering Institute,Air Force Engineering University,Xi'an 710038,China)  
The Q and R matrix in Riccati equation are often regulated by experience and it's hard to attain the optimal parameter set.The recursive least square can regulate the Q and R matrix dynamicly and rapidly.Simulation results indicate that the recursive least square can effectively regulate the Q and R parameters in single stage inverted pendulum controller and this method is convenient and efficient.
【CateGory Index】: TJ765.1
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