  When designing a power or CPU constrained device where a four-axis robotic
arm is required and access to the Robot Operating System (ROS) is not an
option, finding an efficient state space controller for a four-axis arm can be
an obstacle. In this paper, I explore a method to optimize the computing power
required for a computer algebra system (CAS) to compute linear quadratic
regulator (LQR) matrices by precomputing the gain matrix for different states.
Example C++ code is provided on Github, along with ideas for further
exploration.
