A Survey of LQE and MPC Discrete-Control for Acrobot

Abstract

This paper surveys the Linear Quadratic Estimation (LQE) and Model Predictive Control (MPC) discrete control methods applied to the Acrobot system. Both techniques aim to achieve and maintain a balanced position for the Acrobot. Through evaluation and comparison, we highlight their strengths, limitations, and potential applications, offering insights for future robotic control research.

Keywords

• acrobot
• lqr control
• mpc control
• discrete control