A novel LQR Controller Design Method based on the Pontryagin’s Maximum Principle

In this work, a new design methodology for the LQR deduction controller based on the Pontryagin’s maximum principle for LTI systems is presented. The advantage of this new procedure over the classic ones is that it allows tuning the weighting matrices, Q and R, in operation without requiring a large volume of computing effort, making it suitable for implementation in low-cost microcontrollers. In order to show its performance, computer simulations applied to the control of an inverted pendulum and a quadrotor are shown.