This paper is concerned with linear-quadratic-Gaussian (LQG) control for a field-mediated feedback connection of plant and coherent (measurement-free) controller. The controller are multimode open quantum harmonic oscillators governed by linear stochastic differential equations. objective to make the closed-loop system internally stable minimize infinite-horizon quadratic cost variables output ...

This paper presents LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will be used during execution of the robot’s path. LQGMP is based on the linear-quadratic controller with Gaussian models of uncertainty, and explicitly characterizes in advance (i.e., before execution) the a-priori probabili...

Linear-Quadratic-Gaussian (LQG) control is concerned with the design of an optimal controller and estimator for linear Gaussian systems with imperfect state information. Standard LQG control assumes the set of sensor measurements to be fed to the estimator to be given. However, in many problems arising in networked systems and robotics, one may be interested in designing a suitable set of senso...

We have implemented the linear quadratic Gaussian (LQG) controller in our physical optics sky coverage simulator (MAOS) for the Thirty Meter Telescope (TMT) Narrow Field InFrared Adaptive Optics System (NFIRAOS) aimed for improved correction of tip/tilt and plate scale modes. The LQG controller has a built-in capability to correct narrow frequency vibrations that are above the closed loop bandw...

Submitted for the DPP09 Meeting of The American Physical Society Design of a Linear-Quadratic-Gaussian controller for resistive wall mode stabilization in NSTX1 OKSANA KATSURO-HOPKINS, S.A. SABBAGH, J.M. BIALEK, Columbia University, S.P. GERHARDT, PPPL — Stabilization of the resistive wall mode (RWM) in the NSTX is important to achieve and sustain high-beta plasmas. State-space control algorith...

Based on a recently developed notion of physical realizability for quantum linear stochastic systems, we formulate a quantum LQG optimal control problem for quantum linear stochastic systems where the controller itself may also be a quantum system and the plant output signal can be fully quantum. Such a control scheme is often referred to in the quantum control literature as “coherent feedback ...

Based on a recently developed notion of physical realizability for quantum linear stochastic systems, we formulate a quantum LQG optimal control problem for quantum linear stochastic systems where the controller itself may also be a quantum system and the plant output signal can be fully quantum. This is distinct from previous works on the quantum LQG problem where measurement is performed on t...

We investigate a linear-quadratic-Gaussian (LQG) control and sensing codesign problem, where one jointly designs policies. focus on the realistic case design is selected among finite set of available sensors, each sensor associated with different cost (e.g., power consumption). consider two dual problem instances: sensing-constrained LQG control, maximizes performance subject to budget, minimum...

The purpose of this paper is to present a theoretic and numerical study of utilizing squeezing and phase shift in coherent feedback control of linear quantum optical systems. A quadrature representation with built-in phase shifters is proposed for such systems. Fundamental structural characterizations of linear quantum optical systems are derived in terms of the new quadrature representation. T...