Hi guys,

A really quick question here. I have to implement code from a paper called "Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking" located here... http://citeseerx.ist.psu.edu/viewdoc...=rep1&type=pdf

I am up to a section called "Stabilizing controller" in which I have to define a variable called "Kfb" which is suppose to be derived by "solving a linear-quadratic regulator optimization problem".

I have looked around on the internet but I couldn't find much on this problem. I have some experience in linear, non-linear and quadratic equations. Could any of you guys give me some help explaining how/what a linear-quadratic regulator optimization problem is or even a good point to some resources? Once I know exactly what it is and what it does (which I already have a slight idea) it will be easy to implement into C++.

Cheers for any help!