Structured Output Feedback Control for Linear Quadratic Regulator Using Policy Gradient Method

Shokichi Takakura, Kazuhiro Sato

Abstract: In this article, we consider the static output feedback control for linear quadratic regulator problems with structured constraints under the assumption that system parameters are unknown. To solve the problem in the model free setting, we propose the policy gradient algorithm based on the gradient projection method and show its global convergence to $\varepsilon$-stationary points. In addition, we introduce a variance reduction technique and show both theoretically and numerically that it significantly reduces the variance in the gradient estimation. We also show in the numerical experiments that the model free approach efficiently solves the problem.