Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/92665
Title: Bounded input H2-optimal feedback control of linear systems with application to the control of a flexible beam
Authors: Krishnan, H. 
Vidyasagar, M.
Issue Date: Jun-1993
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
URI: http://scholarbank.nus.edu.sg/handle/10635/92665
ISSN: 09110704
Appears in Collections:Staff Publications

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