一种线性二次型调节器闭环稳定的充分条件及在预测控制中的应用

A SUFFICIENT CONDITION FOR LQR TO STABILIZE SYSTEMS AND ITS APPLICATION TO PREDICTIVE CONTROL

提出了终态松弛的线性二次型Ｋｌｅｉｎｍａｎ调节器，给出并证明了该调节器保证系统闭环稳定的一个充分条件．将结果用于预测控制的稳定性分析，得到选择代价函数中加权阵的定量准则．

This paper proposes a free final state Kleinman LQR and a sufficient condition to ensure the close loop stability with the regulator. By applying the result to the stability analysis of predictive control, a quantitative criterion is obtained to choose the weighting matrices in the cost function.