We consider distributed parameter systems where the underlying dynamics are spatially invariant, and where the controls and measurements are spatially distributed. These systems arise in many applications such as the control of vehicular platoons, flow control, microelectromechanical systems (MEMS), smart structures, and systems described by partial differential equations with constant coeffici...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

In Chapters 8 and 9 of this book we have designed dynamic controllers such that the closed-loop systems display the desired transient response and steady state characteristics. The design techniques presented in those chapters have sometimes been limited to trial and error methods while searching for controllers that meet the best given specifications. Furthermore, we have seen that in some cas...

This paper presents the detailed account on the control design for input tracking of a buck converter driven dc motor. Proportional-Integral (PI), Proportional-Integral-type Fuzzy Logic controller (PI-type FLC) and Linear Quadratic Regulator (LQR) are the techniques proposed in this investigation to control the speed of a dc motor. The dynamic system composed from buck-converter/dc motor is con...

An optimal trade-off design for fractional order (FO)-PID controller is proposed with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain objectives. A class of delayed FO systems with single non-integer order element, exhibiting both sluggish and oscillatory open loop responses, have been controlled here. The FO time delay processes are handled within a multi-o...

An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form rep...

Although it is well known that fuzzy learning controller is powerful for nonlinear systems, it is very difficult to apply a learning method if they are unstable. An unstable system diverges for impulse input. This divergence makes it difficult to learn the rules unless we can find the initial rules to make the system stable prior to learning. Therefore, we introduced LQR(Linear Quadratic Regula...

A nonlinear optimal controller with a fuzzy gain scheduler has been designed and applied to a Line-Of-Sight (LOS) stabilization system. Use of Linear Quadratic Regulator (LQR) theory is an optimal and simple manner of solving many control engineering problems. However, this method cannot be utilized directly for multigimbal LOS systems since they are nonlinear in nature. To adapt LQ controllers...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

When both a building and its equipment have a vibration controller, the controller of the equipment should consider the behaviour of the building and vice versa. First, we classified control schemes according to the amount of state variables communicated between the controllers and the type of control objectives. Then, a high-rise building with an elevator system is analysed under seismic excit...