Parameter optimization for linear and quadratic feedback Controllers

This paper presents two full-state feedback parametric controllers, linear controller and quadratic one. They are tested in swing up model and perturbed bipedal standing balance example for unconstraint and constraint problems. One link model and two link model are employed to discuss the differences between the proposed controllers. The parameters of each controller and each example are optimized with different optimization strategies. The performances of each one are also shown in simulated environment to validate the effectiveness of the proposed controllers.