NextControl/dev.nextftc.control.feedback/LQRController

LQRController

class LQRController<States : Nat, Inputs : Nat, Outputs : Nat> @JvmOverloads constructor(A: Matrix<States, States>, B: Matrix<States, Inputs>, Q: Matrix<States, States>, R: Matrix<Inputs, Inputs>, dt: Double = 0.05)(source)

A Linear Quadratic Regulator (LQR) for controlling a system modeled by state-space equations.

LQR is a form of optimal control that finds the best control input to apply to a system by minimizing a quadratic cost function. The cost function balances two competing goals:

State Error: How far the system is from its desired target state (penalized by the Q matrix).
Control Effort: How much energy or effort is used to control the system (penalized by the R matrix).

The controller computes the optimal control input u using a simple state-feedback law: u = -Kx, where x is the system's state error and K is the optimal gain matrix.

Thank you to Tyler Veness and WPILib!