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SOLVED: Exercise 5.15 (Linear quadratic optimal tracking; 20 points) For completeness, We consider a slightly more general form of the linear quadratic regulator: The standard LQR derivation attempts to drive the sys-
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Control System Design, Ch 22. Design Via Optimal Control Techniques : Chapter 22, Slide 22 of 230: The Linear Quadratic Regulator (LQR)
