ɪn pɚtˈɪkjʊlɚ, wˌɛn ðɪ ˌɛlkjˌuːˈɑːɹ ɪz ɹˈʌn ɹᵻpˈiːɾᵻdli wɪð ɐ ɹᵻsˈiːdɪŋ hɚɹˈaɪzən, ɪt bɪkˌʌmz ɐ fˈɔːɹm ʌv mˈɑːdəl pɹɪdˈɪktɪv kəntɹˈoʊl ˌɛmpˌiːsˈiː.
In particular, when the LQR is run repeatedly with a receding horizon, it becomes a form of model predictive control (MPC).