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...

Path planning and tracking control are essential parts of autonomous vehicle research. Regarding path planning, the Rapid Exploration Random Tree Star (RRT*) algorithm has attracted much attention due to its completeness. However, still suffers from slow convergence high randomness. tracking, Linear Quadratic Regulator (LQR) is widely used in various applications efficient stability ease implem...

The purpose of designing the active suspension systems is providing comfort riding and good handling in different road disturbances. In this paper a novel control method based on adaptive neuro fuzzy system in active suspension system is proposed. Choosing the proper data base to train the ANFIS has an important role in increasing the suspension system’s performance. The data base which is used...

The main advantage of pole placement technique is that it places all the poles at desired location using state feedback gain matrix. Using feedback, the poles of the system can be shifted so we can shape the closed loop characteristics of system to meet the design requirement. Even though pole placement method can give the desired characteristic but it does not guarantee a robust system. So con...

Nowadays, the Doubly-Fed Induction Generators (DFIGs) based Wind Turbines (WTs) are the dominant types of WTs connected to grid. Traditionally the back-to-back converters are used to control the DFIGs. In this paper, an Indirect Matrix Converter (IMC) is proposed to control the generator. Compared with back-to-back converters, IMCs have numerous advantages such as: higher level of robustness, r...