A semi-active control strategy for suspension systems of passenger cars is presented employing Magnetorheological (MR) dampers. The vehicle is modeled with seven DOFs including the, roll pitch and bounce of car body, and the vertical motion of the four tires. In order to design an optimal controller based on the actuator constraints, a Linear-Quadratic Regulator (LQR) is designed. The design pr...

As the penetration of intermittent energy sources grows substantially, loads will be required to play an increasingly important role in compensating the fast timescale fluctuations in generated power. Recent numerical modeling of thermostatically controlled loads (TCLs) has demonstrated that such load following is feasible, but analytical models that satisfactorily quantify the aggregate power ...

This paper proposes a robust control framework for power system stabilizer to improve system dynamic performance based on model predictive control (MPC). The effectiveness of the proposed power system stabilizer is validated by a simple power system composed of a synchronous generator connected to an infinite bus through a transmission line. A comparison between power system responses at variet...

In this paper, two robust optimal control methods based on sliding mode design are introduced and implemented using the well-known unit vector approach. Time-varying sliding surfaces are implemented to solve linear optimal problems. The introduced sliding surfaces produce optimal controllers with respect to quadratic cost function. The presented design procedure is much easier than solving an H...

this paper presented comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear ,unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine th...

Design of optimal distributed controllers with a priori assigned localisation constraints is a difficult problem. Alternatively, one can ask the following question: given a localised distributed exponentially stabilising controller, is it inversely optimal with respect to some cost functional? We study this problem for linear spatially invariant systems and establish a frequency domain criterio...

In this paper we present stability and convergence results for Dynamic Programming-based reinforcement learning applied to Linear Quadratic Regulation (LQR). The spe-ciic algorithm we analyze is based on Q-learning and it is proven to converge to the optimal controller provided that the underlying system is controllable and a particular signal vector is persistently excited. The performance of ...

Abstract—In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for ...

In this paper we present stability and convergence results for Dynamic Programming-based reinforcement learning applied to Linear Quadratic Regulation (LQR). The specific algorithm we analyze is based on Q-learning and it is proven to converge to the optimal controller provided that the underlying system is controllable and a particular signal vector is persistently excited. This is the first c...

Linear quadratic regulator (LQR) with trajectory sensitivity minimization and structurally constrained controller was formulated in [2] and [4]. In these works, a gradient search method, which is a particular type of nonlinear programming, was used to solve the problem. In this paper, we propose a linear matrix inequality (LMI)-based method for the problem. This LMI is formulated with block-dia...