The current state-of-practice in structural control uses the centralized Linear Quadratic Regulator (LQR) approach to determine optimal control forces. The centralized architecture of the LQR control approach does not easily scale to complex systems characterized by high sensor and actuator densities. In this paper, a decentralized control approach is proposed for application in structural cont...

ROTATIONAL DOUBLE INVERTED PENDULUM Name: Li, Bo University of Dayton Advisor: Dr. Raúl Ordóñez The thesis deals with the stabilization control of the Rotational Double Inverted Pendulum (RDIP) System. The RDIP is an extremely nonlinear, unstable, underactuated system of high order. A mathematical model is built for the RDIP with the Euler-Lagrange (E-L) equation. A Linear Quadratic Regulator (...

| In this paper, we revisit the well-known robustness properties of the linear quadratic regulator (LQR), namely, the guaranteed gain margin of-6 to +1 dB and phase margin of ?60 o to +60 o for single-input systems. We caution that these guaranteed margins need to be carefully interpreted. More speciically, we show via examples that an LQR may have a very small margin with respect to the variat...

We develop a dynamic trading strategy in the Linear Quadratic Regulator (LQR) framework. By including price mean-reversion signal into optimization program, environment where market impact is linear and stage costs are quadratic, we obtain an optimal curve that reacts opportunistically to changes while retaining its ability satisfy smooth or hard completion constraints. The allocation affine sp...

Parrot Mambo mini-drone is a readily available commercial quadrotor platform to understand and analyze the behavior of both in indoor outdoor applications. This study evaluates performance three alternative controllers on an interior environment, including Proportional–Integral–Derivative (PID), Linear Quadratic Regulator (LQR), Model Predictive Control (MPC). To investigate controllers’ perfor...

In this report a number of algorithms for optimal control of a double inverted pendulum on a cart (DIPC) are investigated and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. This results in a system of nonlinear differential equations consisting of three 2-nd order equations. This sys...

In industrial environments, the heat exchanger is a necessary component to any strategy of energy conversion. Much of thermal energy used in industrial processes passes at least one times by a heat exchanger, and methods systems recovering thermal energy. This survey paper tries to presents in a systemic way an sample control of a heat exchanger by comparison between three controllers LQR (line...

The paper presents the concept of controlling designed optoelectronic scanning and tracking seeker. above device is intended for so-called passive guidance short-range anti-aircraft missiles to various types air maneuvering targets. In presented control method, modified linear-quadratic regulator (LQR) estimation input signals using extended Kalman filter (EKF) were used. LQR regulation utilize...

The concluding chapter of this part of the book discusses several flight control implementation examples that integrate Matlab/Simulink within the open control platform (OCP) framework (described in Chapters 4 and 5). A public domain version of an F-16 aircraft model, available as a Simulink block with OCP distribution 1.0, is used for illustration. The first example is a linear quadratic regul...