A feedback regulator for following a reference trajectory
David D. Sworder · IEEE Transactions on Automatic Control · 1977
The use of classical linear-quadratic regulator theory in the synthesis of a regulator for a trajectory following problem may result in a system which is "overcontrolled." If exclusive concern centers on the spatial relationships between the system state variables, a simpler control policy is shown here to provide a reduced sensitivity to a class of exogenous disturbances.