This study presents an optimization-based controller state initialization method for improving the initial transient response. Uncertainties in the uncontrolled periods around transition events or a large change in the reference may result in unexpected growth of initial tracking error. The proposed method mainly aims to regulate out the initial error at the instance of feedback control initiation with a small amount of control effort and a short settling time. The proposed method minimizes a cost function given by a weighted sum of infinite-horizon square integrals, provided that the other controller parameters are fixed a priori to yield closed-loop stability. The performance-oriented initial controller state optimization is desirable for efficient and rapid initial error convergence in systems such as missiles where agility is of major concern. This study suggests performance-related optimization as an alternative for controller state setting besides zero filling or solving for bump-less transfer in switching systems. The concept and the effectiveness of the proposed method is demonstrated by numerical simulation considering the three-loop missile acceleration autopilot as an example application.

中文翻译：

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线性系统动态控制器初始状态的二次优化

这项研究提出了一种基于优化的控制器状态初始化方法，用于改善初始瞬态响应。过渡事件周围的不受控制的不确定性或参考的较大变化可能会导致初始跟踪误差的意外增长。所提出的方法主要旨在以较小的控制工作量和较短的建立时间在反馈控制启动时消除初始误差。如果其他控制器参数是固定的，则所提出的方法将由无限水平平方积分的加权和给出的成本函数最小化先验产生闭环稳定性。面向性能的初始控制器状态优化对于敏捷等主要关注的系统（例如导弹）中的有效且快速的初始误差收敛是理想的。这项研究表明，除了零填充或解决开关系统中的无扰动转移外，与性能相关的优化还可以作为控制器状态设置的替代方案。以三环导弹加速度自动驾驶仪为例，通过数值模拟验证了该方法的概念和有效性。