Singular Lq Signal Tracker - a Data-based Synthesis Approach

An LQ optimal tracker will achieve zero tracking error when the input penalty is removed. However, the problem becomes singular, and a solution hides behind several coordination transformations. We will highlight a discrete time version of this singular LQ optimization. We will also present data-based formulas to design this optimal tracker at the absence of a parametric plant model. We will show that numerical formulas which use input and output data from openloop system tests are constructed in the way as to eliminate the need for explicit knowledge of plant model parameters. Copyright c © 2002 IFAC