19 LINEAR QUADRATIC REGULATOR - MIT OpenCourseWare
above equations. 19.4 Gradient Method Solution for the General Case Numerical solutions to the general problem are iterative, and the simplest approach is the gradient method. It is outlined as follows: 1. For a given xo, pick a control history u(t). 2. Propogate x˙ = f(x, u, t) forward in time to create a state trajectory. 3.
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