Linear Quadratic Gaussian (LQG) control is developed for a prestressed square membrane with bimorph actuators attached to it. The membrane is modeled using the finite element method and the membrane is assumed to be clamped on all edges. After obtaining the mass, damping, stiffness and input matrices in second order form using the weak form Finite Element Method (FEM), the problem is represented in first order form to develop the LQG controller. To study the robustness of the system, the control and observer gain matrices developed for the nominal system are applied to systems obtained from the nominal system by modifying material properties and prestress.
Agent-level optimal LQG control of dynamically decoupled systems with processing delays
