On improving the robustness of LQ regulators
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Soroka and Shaked have shown that a linear quadratic state feedback regulator may suffer from poor robustness where small changes in the parameters of the system can lead to fast unstable closed-loop modes. It is shown there that the stability properties can be improved if possible nonminimum phase behavior is allowed for in modeling the system prior to the controller design.
[1] U. Shaked,et al. On the robustness of LQ regulators , 1984 .