# Iterative Linear Quadratic Regulator
This program is about iLQR (Iteratice Linear Quadratic Regulator)

# Problem Formulation


# Usage



# Expected Results



# Requirement

- python3.5 or more
- numpy
- matplotlib
- cvxopt
- scipy1.2.0 or more
- python-control

# Reference

- study wolf
https://github.com/studywolf/control

- Sergey Levine's lecture
http://rail.eecs.berkeley.edu/deeprlcourse/

- Tassa, Y., Erez, T., & Todorov, E. (2012). Synthesis and stabilization of complex behaviors through online trajectory optimization. IEEE International Conference on Intelligent Robots and Systems, 4906–4913. https://doi.org/10.1109/IROS.2012.6386025

- Li, W., & Todorov, E. (n.d.). Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. Retrieved from https://homes.cs.washington.edu/~todorov/papers/LiICINCO04.pdf