Design_LQR_LQG

The project focuses on Building an LQR & LQG Controller and also solving the above problem statemment. It is required to find the equations of motion for the system and corresponding Non-Linear State Space Representation.

State Space Representation of the System

Step Response to Linearized System- LQR Controller

Step Response to Non-Linear Syste- LQR Controller

Observability Graph

Obtaining the best Observer

Thank You