 Russ Tedrake

Russ Tedrake authored Underactuated Robotics by Russ Tedrake, developing mathematical methods for controlling systems with fewer independent actuators than degrees of freedom. Its treatment of the linear-quadratic optimal control derives feedback gains from a Riccati equation. This connects a local dynamical model and a quadratic performance objective with an explicit stabilizing control law under appropriate assumptions.^[ref]