Simultaneous design of controllers and instrumentation: ILQR/ILQG

Shinung Ching, Pierre T. Kabamba, Semyon M. Meerkov

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.

Original languageEnglish
Article number5340608
Pages (from-to)217-221
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number1
StatePublished - Jan 2010


  • Linear plant/nonlinear instrumentation (LPNI)


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