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LQR through the Lens of First Order Methods: Discrete-time Case
Jingjing Bu, Afshin Mesbahi, Maryam Fazel +1
We consider the Linear-Quadratic-Regulator (LQR) problem in terms of optimizing a real-valued matrix function over the set of feedback gains. Such a setup facilitates examining the…
Universal Convexification via Risk-Aversion
Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov
We develop a framework for convexifying a fairly general class of optimization problems. Under additional assumptions, we analyze the suboptimality of the solution to the convexifi…
Convex Structured Controller Design
Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel
We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the u…