One of the problem areas of modern optimal control theory is the definition of suitable performance indices. This thesis demonstrates a rational method of establishing a quadratic performance index derived from a desired system model. Specifically, a first order model is used to provide a quadratic performance index for which a second order system is optimized. Extension of the method to higher order systems, while requiring more computations, involves no additional theoretical complexities.
Cannon, Arthur G., "Optimization Analysis of a Simple Position Control System" (1972). Retrospective Theses and Dissertations. 8.