Kybernetika 38 no. 4, 469-478, 2002

A deterministic LQ tracking problem: parametrisation of the controller

Ľuboš Čirka, Ján Mikleš and Miroslav Fikar


The article discusses an optimal Linear Quadratic (LQ) deterministic control problem when the Youla-Kučera parametrisation of controller is used. We provide a computational procedure for computing a deterministic optimal single-input single-output (SISO) controller from any stabilising controller. This approach allows us to calculate a new optimal LQ deterministic controller from a previous one when the plant has changed. The design based on the Youla-Kučera parametrisation approach is compared to the classical LQ design.