Topic #22 16.31 Feedback Control Deterministic lOR Optimal control and the riccati equation · Lagrange multipliers The Hamiltonian matrix and the symmetric root locus Factoids: for symmtric R au ru 2u'R aR=R Copyright 2001 by Jonathan HowTopic #22 16.31 Feedback Control Deterministic LQR • Optimal control and the Riccati equation • Lagrange multipliers • The Hamiltonian matrix and the symmetric root locus Factoids: for symmtric R ∂uTRu = 2uTR ∂u ∂Ru = R ∂u Copyright 2001 by Jonathan How. 1