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Derivative State Constrained optimal H2 control for unstable systems
Author(s)
Pittaya, Pannil
Kitti, Tirasesth
Prapart, Ukakimaparn
Thanit, Trisuwannawat
Date Issued
October 1, 2009
Type
Article
Abstract
This paper presents the controller design method called the Derivative State Constrained optimal H2 control for an unstable system. The control scheme is obtained via the state-space approach with the quadratic derivatives of state variables in the standard performance index for the Linear Quadratic Gaussian as an extra weighting function. The proposed method can be reduced to the standard H2 optimal control problem by modifying the controlled output equations. The aim is to stabilize an unstable system and damp the closed-loop system dynamics. A two-wheeled balancing mobile robot, which is an inverted pendulum system, has been realized in continuous-time and discretetime designs to verify the effectiveness of the proposed control scheme. Simulation and experimental results revealed that the swing of the pendulum's angle could be decreased extensively with excellent performance. In addition, the suitable weight selection for the control system is also suggested. ICIC International © 2009 ISSN.
Citation
International Journal of Innovative Computing Information and Control, 5(10), 3541-3552, 2009