A Data-Driven Algorithm for Model-Free Control Synthesis
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866915797046132736 |
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| author | Bowerfind, Sean Kirchner, Matthew R. Hewer, Gary |
| author_facet | Bowerfind, Sean Kirchner, Matthew R. Hewer, Gary |
| contents | Presented is an algorithm to synthesize the optimal infinite-horizon LQR feedback controller for continuous-time systems. The algorithm does not require knowledge of the system dynamics but instead uses only a finite-length sampling of arbitrary input-output data. The algorithm is based on a constrained optimization problem that enforces a necessary condition on the dynamics of the optimal value function along any trajectory. In addition to calculating the standard LQR gain matrix, a feedforward gain can be found to implement a reference tracking controller. This paper presents a theoretical justification for the method and shows several examples, including a validation test on a real scale aircraft. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_13157 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Data-Driven Algorithm for Model-Free Control Synthesis Bowerfind, Sean Kirchner, Matthew R. Hewer, Gary Optimization and Control Robotics Systems and Control Presented is an algorithm to synthesize the optimal infinite-horizon LQR feedback controller for continuous-time systems. The algorithm does not require knowledge of the system dynamics but instead uses only a finite-length sampling of arbitrary input-output data. The algorithm is based on a constrained optimization problem that enforces a necessary condition on the dynamics of the optimal value function along any trajectory. In addition to calculating the standard LQR gain matrix, a feedforward gain can be found to implement a reference tracking controller. This paper presents a theoretical justification for the method and shows several examples, including a validation test on a real scale aircraft. |
| title | A Data-Driven Algorithm for Model-Free Control Synthesis |
| topic | Optimization and Control Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.13157 |