This monograph aims to provide a concise and comprehensive treatment of the basic theory
of algebraic Riccati equations and a description of both the classical and the more advanced …

Fast-paced dynamic environments like robot soccer require highly responsive and dynamic
locomotion. We present an implementation of an omnidirectional ZMP-based walk engine …

In many control applications, there is freedom to place the actuators. The actuator location
should be chosen to optimize certain performance objectives. In this paper, H∞ …

SLICOT ist eine umfangreiche Softwarebibliothek zur numerischen Behandlung von
Fragestellungen aus der System-und Regelungstheorie, die mit dem Ziel entwickelt wurde …

Reinforcement learning is a model-free optimal control method that optimizes a control
policy through direct interaction with the environment. For reaching tasks that end in …

The solution of algebraic Riccati equations (AREs) is a fundamental computation in optimal
control and other domains. Most of the available ARE solvers are black-boxes, lacking the …

Improved Newton solvers, with or without line search, for continuous-time algebraic Riccati
equations are discussed. The basic theory and algorithms are briefly presented. Algorithmic …

Although synthesis of H∞ controllers via solution of algebraic Riccati equations (AREs) has
been known for several decades, there is not a generally accepted algorithm that is suitable …

A Newton-like algorithm and some line search strategies for solving discrete-time algebraic
Riccati equations are discussed. Algorithmic and implementation details incorporated in the …

The paper is intended to provide algorithmic and computational support for solving the
frequently encountered linear-quadratic regulator (LQR) problems based on receding …