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|Title:||Bounded input H2-optimal feedback control of linear systems with application to the control of a flexible beam|
|Authors:||Krishnan, H. |
|Source:||Krishnan, H.,Vidyasagar, M. (1993-06). Bounded input H2-optimal feedback control of linear systems with application to the control of a flexible beam. Control, theory and advanced technology 9 (2) : 381-403. ScholarBank@NUS Repository.|
|Abstract:||Previous researchers have studied the problem of finding the best possible feedback controller which minimizes the integral-squared tracking error (the so-called H2-norm minimization problem) without considering bounds on the plant input. However, if the plant is strictly proper, such a controller invariably requires plant inputs of unrealizable magnitude. In this paper, we solve the problem of designing H2-optimal controllers in the presence of bounds on the plant input, and show that the problem can be formulated as one of minimizing a quadratic objective function subject to quadratic constraints. The solution of the latter problem is straight-forward, using the Kuhn-Tucker conditions. The method given here is applied to the model of an experimental flex-arm, which has some non-minimum phase zeros and all its poles on the unit circle. Experimental and simulation results on the performance of a fifth order controller thus obtained are presented. The results shown here suggest that this method of controller design ensures good performance of the closed loop system.|
|Source Title:||Control, theory and advanced technology|
|Appears in Collections:||Staff Publications|
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