Abstract Balancing a bipedal robot movement against external perturbations is considered challenging and complex topic. This paper discusses how the vibration caused by disturbance has been tackled Linear Quadratic Regulator, which aims to provide optimal control system. A simulation was conducted on MATLAB in order prove concept. Results have shown that linear quadratic regulator successful st...

Meeting optical beam jitter requirements is becoming a challenging problem for several space programs. A laser beam jitter control test bed has been developed at the Naval Postgraduate School to develop improved jitter control techniques. Several control techniques, such as least means squares and linear–quadratic regulator were applied for jitter control. Enhancement in least means squares tec...

an adaptive version of growing and pruning rbf neural network has been used to predict the system output and implement linear model-based predictive controller (lmpc) and non-linear model-based predictive controller (nmpc) strategies. a radial-basis neural network with growing and pruning capabilities is introduced to carry out on-line model identification.an unscented kalman filter (ukf) algor...

In this paper we developed a control scheme for a Quanser Flexible Link experiment. The purpose of the paper is to design a controller which reduces (eliminates) the undamped oscillations of the tip of the beam while commanding the tip to a desired position. First, we design a control scheme with a model predictive controller. Model predictive control (MPC) is a well-known technique used to (su...

We present a method of solving an linear quadratic regulator problem approximately in the case of discrete-time systems. This method leaves parameters as symbols in the evaluation function. We introduce the concept of the approximate linear quadratic regulator problem. We also propose a computation method to solve the problem. A numerical example of the approximate linear quadratic regulator pr...

The purpose of this paper is to present a new robust strategy in controlling the active suspension system. The strategy utilized the proportional-integral sliding mode control scheme. A quarter-car model is used in the study and the performance of the controller is compared to the linear quadratic regulator and with the existing passive suspension system. A simulation study is performed to prov...

A tape transport system consisting of a take-up reel servo, a supply-reel servo, and a capstan servo is proposed. The mathematical model of the system is derived. Two well know controllers – Linear Quadratic Regulator (LQR) and P/PI controller, are designed to regulate the output of the system. An input gain matrix N is calculated and applied to the LQR to eliminate steady-state offset. Simulat...

Parallel manipulators have advantages such as high stiffness, low moving inertia, high payload capability, and high accuracy. In this paper, the servo drive system of valve controlled asymmetrical hydraulic cylinder is designed for 4SPS/S parallel manipulator with redundant actuator. A unified nonlinear model suitable for forward and inverse motion is deduced for the valve controlled asymmetric...

Absstract-The control of switching dc-dc converters is reviewed. Regarding it as a general linear quadratic regulator (LQR) problem, an innovative optimal and robust digital controller is proposed. The control strategy adopted can achieve good regulation, rejection of modest disturbances, and more significantly, the ability to cater to switching converters with RHP zeroes. This controller desig...