We formulate multi-input multi-output proportional integral derivative controller design as an optimization problem that involves nonconvex quadratic matrix inequalities. We propose a simple method that replaces the nonconvex matrix inequalities with a linear matrix inequality restriction, and iterates to convergence. This method can be interpreted as a matrix extension of the convex–concave pr...

Modeling and controlling highly nonlinear, multivariable, unstable, coupled underactuated systems are challenging problems to which a unique solution does not exist. control of Unmanned Aerial Vehicles (UAVs) with four rotors fall into that category problems. In this paper, nonlinear quadrotor UAV dynamical model is developed the Newton–Euler method, architecture proposed for 3D trajectory trac...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

This work is meant to investigate and control the nonlinear dynamical behaviours of a asymmetric rotating shaft system. The studied system modeled as having both quadratic cubic nonlinearities excited at primary resonance. A linear proportional-derivative controller introduced eliminate suppress lateral vibrations shaft. influences different parameters on oscillatory considered are explored. ma...

The design and analysis of reduced-order linear quadratic regulator (ROLQR) plus proportional double integral controller (PDIC) for enhancing the dynamic performance of the positive output elementary super lift Luo-converter (POESLLC) worked in continuous conduction mode (CCM) is carried out, The ultimate aim is designing the PDIC is to obtain the efficient output voltage regulation with zero s...

Sprayers are important tools in agriculture that usually moved on the field by tractor. Sprayers should distribute the constant rate of chemicals during various conditions encountered in the field. Unwanted vibrations of sprayer boom cause redaction of its life time and over doses and under doses of chemical sprayed on the field. Therefore, in this study a model of suspension system for rotatio...

This paper interrelates the performance criteria involving path independent curvilinear integrals, the multitime maximum principle, the multitime Hamilton-Jacobi-Bellman PDEs and the multitime dynamic programming, to study the linear-quadratic regulator problems and to characterize the optimal control by means of multitime variant of the Riccati PDE that may be viewed as a feedback law. Section...

Efficient Riccati equation based techniques for the approximate solution of discrete time linear regulator problems are restricted in their application to problems with quadratic terminal payoffs. Where non-quadratic terminal payoffs are required, these techniques fail due to the attendant nonquadratic value functions involved. In order to compute these non-quadratic value functions, it is ofte...

Turbocharged diesel engines are now being used in every automobile by a lot of automobile manufacturing companies. A turbocharged diesel engine (TDE) equipped with variable geometry turbocharger and exchange gas recirculation is explained in detail. A linear turbocharged diesel engine model is presented and its control techniques are explained in detail. Controllers are designed using the linea...