### Abstract

The paper proposes a new, discrete time LQ optimal controller synthesis for output tracking over an infinite horizon. The resulted controller consists of a state feedback and a feedforward term. The solution requires a one step ahead prediction of the reference signal. For a smooth enough reference signal this can be replaced with extrapolation. Here, the properties for constant reference signals are examined, time varying references will be covered with another article. The method guarantees asymptotical stability and zero steady state tracking error. The elaborated techniques satisfy the separation principle for an arbitrary deterministic or stochastic state estimator. The reference tracking problem for a quadrotor helicopter is solved by the method. The trajectory tracking control is successfully applied both with reference signal preview and extrapolation (considering time varying references also).

Original language | English |
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Title of host publication | 17th IEEE International Conference on Control Applications, CCA |

Pages | 822-827 |

Number of pages | 6 |

DOIs | |

Publication status | Published - Oct 13 2008 |

Event | 17th IEEE International Conference on Control Applications, CCA - San Antonio, TX, United States Duration: Sep 3 2008 → Sep 5 2008 |

### Publication series

Name | Proceedings of the IEEE International Conference on Control Applications |
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### Other

Other | 17th IEEE International Conference on Control Applications, CCA |
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Country | United States |

City | San Antonio, TX |

Period | 9/3/08 → 9/5/08 |

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### Keywords

- Constant reference signal
- Discrete time LQ
- Infinite horizon
- Output tracking

### ASJC Scopus subject areas

- Control and Systems Engineering
- Computer Science Applications
- Mathematics(all)

### Cite this

*17th IEEE International Conference on Control Applications, CCA*(pp. 822-827). [4629643] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2008.4629643