{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/44105"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/44105","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Optimal adaptive control with ΘLQG","abstract":"This thesis introduces ΘLQG, the hyper extension of the Linear Quadratic Gaussian Regulator, for solving general purpose (locally optimal) nonlinear adaptive control on multiple-input multiple-output systems. This approach can be used to stabilize an under-actuated under-observed nonlinear dynamic system with noisy measurements while simultaneously identifying system parameters. It requires a parameterized dynamic model with operation about equilibrium points. Its general construction can also be used in disturbance rejection, gain scheduling and reference tracking. 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Specific case examples are introduced.","abstract_has_math":false,"creators":["Wendt, Luke"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Levinson, Stephen E."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-05-24T21:50:51Z","date_published":"2013-05-24T21:50:51Z","updated_at":"2026-07-22T22:25:33Z","subjects":["Optimal Adaptive Control","Multiple-Input Multiple-Output (MIMO)","Extended Kalman Filter (EKF)","Hyper-Extended Kalman Filter (EKF)","Linear Quadratic Regulator (LQR)","Linear Quadratic Gaussian Regulator (LQG)","Hyper Extended LQG (ΘLQG)","Pendulum on Cart"],"languages":["en"],"rights":["Copyright 2013 Luke Adam Wendt"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/44105","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Levinson, Stephen E."]},{"key":"dc:creator","label":"Author","values":["Wendt, Luke"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-05-24T21:50:51Z","2013-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Optimal Adaptive Control","Multiple-Input Multiple-Output (MIMO)","Extended Kalman Filter (EKF)","Hyper-Extended Kalman Filter (EKF)","Linear Quadratic Regulator (LQR)","Linear Quadratic Gaussian Regulator (LQG)","Hyper Extended LQG (ΘLQG)","Pendulum on Cart"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2013 Luke Adam Wendt"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/44105"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis introduces ΘLQG, the hyper extension of the Linear Quadratic Gaussian Regulator, for solving general purpose (locally optimal) nonlinear adaptive control on multiple-input multiple-output systems. 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