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Design_LQR_LQG

Problem_statement

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

state_space_eqns

Step Response to Linearized System- LQR Controller

step_response_LQR

Step Response to Non-Linear Syste- LQR Controller

original_non_linear

Observability Graph

observability

Obtaining the best Observer

best_observer

Thank You