This paper presents an efficient algorithin for coiiiputing the solution to the constrained infinite time linear quadratic regulator (CLQR) problem for discrete time systems. The algorithm coinbiiies multi-parametric quadratic programming with reachability analysis to obtain the optiinal piecewise affine (PWA) feedback law. The algorithm reduces the time necessary to compute the PWA solution fo...

One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based control...

This paper presents the design of LQR (Linear Quadratic Regulator) and SDRE (State-Dependent Riccati Equation) controllers for flight control F-8 Crusader aircraft considering nonlinear model longitudinal movement aircraft. Numerical results analysis demonstrate that designed can lead to significant improvements in aircraft's performance, ensuring stability a large range attack angle situations...

In a three-dimensional dissipative chaotic system circuit, by superimposing cubic magnetron-type memristor and connecting feedback new four-dimensional synchronous controlling is established. The control parameters have significant impact on the system, displays rich dynamic features such as hyperchaos, chaos, period states. At same time, synchronization scheme for designed based linear quadrat...

1 John Watkins, Systems Engineering Department, U.S. Naval Academy, 105 Maryland Ave, Annapolis, MD 21402 [email protected] 2 Eugene Mitchell, Systems Engineering Department, U.S. Naval Academy, 105 Maryland Ave, Annapolis, MD 21402 [email protected] Abstract  The optimal Linear Quadratic Regulator (LQR) method is a powerful technique for designing controllers for comple...

This paper deals with an optimal twisting sliding mode controller (OT-SMC) for the operation of a three phase permanent magnet synchronous machine (PMSM) in electric vehicle (EV). In order to drive these vehicles, performance is needed robust control against real-time disturbances such as variable load torque, uncertainties parameters variation and speed variations between medium, low, high wel...

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...

Consider a distributed control problem with a communication channel connecting the observer of a linear stochastic system to the controller. The goal of the controller is to minimize a quadratic cost function in the state variables and control signal, known as the linear quadratic regulator (LQR). We study the fundamental tradeoff between the communication rate r bits/sec and the limsup of the ...

THIS is one of the two ground-breaking papers by Kalman that appeared in 1960—with the other one (discussed next) being the filtering and prediction paper. This first paper, which deals with linear-quadratic feedback control, set the stage for what came to be known as LQR (Linear-Quadratic-Regulator) control, while the combination of the two papers formed the basis for LQG (Linear-Quadratic-Gau...