optimal control of modified LQR method

A modified of the classical linear quadratic regulator LQR algorithm that based on wavelet analysis has been proposed in this study the formulation of the proposed wavelet -LQR algorithm uses the information derived from the discrete wavelet transform DWT analysis of the motivation in real time. the real time DWT controller is applied to obtain the local energy distribution over frequency bands for each time interval. this information is used to adaptively design the controller by updating the weighting matrices . the optimal LQR control problem is solved for each time interval with updated weighting matrices through the ricatti equation leading to time varying gain matrices the positive aspect of current work is that the gain matrices are achieved adaptively in real time.