Design of a Trajectory Insensitive Regulator With Prescribed Degree of Stability

The paper outlines an approach for designing a trajectory insensitive optimal linear quadratic regulator (LQR) with prescribed degree of stability for uncertain plants. The state trajectory insensitivity to structural uncertainties is achieved by designing a robust suboptimal controller of proportional state, and proportional derivative of state type. The prescribed degree of stability is obtained by appropriate modification of the quadratic cost functional. The proposed method is superior to some recent approaches as far as the computational complexity and robustness are concerned.