Minimax Output Feedback Regulators

1976 ◽  
Vol 98 (3) ◽  
pp. 270-276 ◽  
Author(s):  
T. Yahagi
Keyword(s):  
Output Feedback ◽  
Necessary Conditions ◽  
Output Feedback Control ◽  
Linear Quadratic Regulator ◽  
Recursive Formula ◽  
Performance Measure ◽  
Minimax Solution ◽  
Linear Quadratic ◽  
Initial State ◽  
Optimal Constant

The linear quadratic regulator problem is considered, and a method for obtaining an optimal output feedback control subject to a minimax performance index is presented. The optimal constant feedback matrix, which denotes the optimal constant feedback gains, is determined by minimizing the effects of the worst value of the initial state on the system performance measure. First, the necessary conditions for a minimax solution are given analytically. However, it is very difficult to determine the minimax solution directly from these necessary conditions. Then, a method for obtaining an optimal numerical solution by using a recursive formula is presented. Two iterative algorithms for the minimax solution are given. These algorithms are based on Theorem 4 and the saddle point assumption is not used. As shown in the illustrative examples the iterative solutions converge to the minimax value rapidly, and this method is useful for obtaining the minimax output feedback solution.

scholarly journals Observer-Based Output Feedback Control with Linear Quadratic Performance

2013 ◽  
Vol 53 ◽  
pp. 233-240 ◽  
Author(s):  
M.Nizam Kamarudin ◽  
S.Md. Rozali ◽  
A.Rashid Husain
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Linear Quadratic ◽  
Quadratic Performance

scholarly journals Design of Static Output Feedback and Structured Controllers for Active Suspension with Quarter-Car Model

Energies ◽  
2021 ◽  
Vol 14 (24) ◽  
pp. 8231
Author(s):  
Manbok Park ◽  
Seongjin Yim
Keyword(s):  
Output Feedback ◽  
Ride Comfort ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Static Output Feedback ◽  
State Variables ◽  
Linear Quadratic ◽  
Suspension Control ◽  
Quarter Car ◽  
Static Output

This paper presents a method to design active suspension controllers for a 7-Degree-of-Freedom (DOF) full-car (FC) model from controllers designed with a 2-DOF quarter-car (QC) one. A linear quadratic regulator (LQR) with 7-DOF FC model has been widely used for active suspension control. However, it is too hard to implement the LQR in real vehicles because it requires so many state variables to be precisely measured and has so many elements to be implemented in the gain matrix of the LQR. To cope with the problem, a 2-DOF QC model describing vertical motions of sprung and unsprung masses is adopted for controller design. LQR designed with the QC model has a simpler structure and much smaller number of gain elements than that designed with the FC one. In this paper, several controllers for the FC model are derived from LQR designed with the QC model. These controllers can give equivalent or better performance than that designed with the FC model in terms of ride comfort. In order to use available sensor signals instead of using full-state feedback for active suspension control, LQ static output feedback (SOF) and linear quadratic Gaussian (LQG) controllers are designed with the QC model. From these controllers, observer-based controllers for the FC model are also derived. To verify the performance of the controllers for the FC model derived from LQR and LQ SOF ones designed with the QC model, frequency domain analysis is undertaken. From the analysis, it is confirmed that the controllers for the FC model derived from LQ and LQ SOF ones designed with the QC model can give equivalent performance to those designed with the FC one in terms of ride comfort.

Optimal Output Feedback Regulator—A Numerical Synthesis Approach for Input-Output Data

1996 ◽  
Vol 118 (2) ◽  
pp. 360-366 ◽  
Author(s):  
Jenq-Tzong H. Chan
Keyword(s):  
Output Feedback ◽  
Output Feedback Control ◽  
Numerical Approach ◽  
Open Loop ◽  
Input Output ◽  
Linear Quadratic ◽  
Output Data ◽  
Optimal Output ◽  
Synthesis Approach ◽  
Feedback Regulator

A numerical approach is proposed in this work for computing a linear quadratic optimal regulator from input-output data. The method is applicable whenever the plant is open-loop stable. The major advantages of the method are two-fold. First, it involves an output feedback control law; hence, no state estimation is required for implementation. Second, the computation of this optimal controller can be conducted without explicit identification of the plant model.

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