Question 2 Consider the following LQR (Linear Quadratic Regulator) Problem. min 1 xTQx+5uRu + $(x(T)) where i = Ax + Bu

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Question 2 Consider The Following Lqr Linear Quadratic Regulator Problem Min 1 Xtqx 5uru X T Where I Ax Bu 1 (160.41 KiB) Viewed 86 times

Question 2 Consider the following LQR (Linear Quadratic Regulator) Problem. min 1 xTQx+5uRu + $(x(T)) where i = Ax + Bu where x(0) = xo where °(x(T)) = 0 where Q:PSD where R: PD Derive the Hamiltonian Dynamical system of two point boundary value problem. Use 2 = Px where P is a constant matrix. Substitute 1 and u and show that PA + ATP + Q – PBR-1B+ P = 0 and comment on as to why R is PD in the performance index.