= Russ Tedrake
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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.<Underactuated Robotics by Russ Tedrake>[Chapter 8, Basic Derivation and Finite-horizon LQR]{ref}
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