In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The model created by using 3D CAD platform exported to Simscape Multibody. multibody linearized derive state-space representation. A (Linear-quadratic regulator) controller designed applied for balance the pendulum. results show that deriving representation from an easy effective way dynamic syste...

Abstract—The design and implementation of the hybrid control method for a three-pole active magnetic bearing (AMB) is proposed in this paper. The system is inherently nonlinear and conventional nonlinear controllers are a little complicated, while the proposed hybrid controller has a piecewise linear form, i.e. linear in each subregion. A state-feedback hybrid controller is designed in this stu...

Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. In this paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by the MATLAB sof...

This paper presents a nonlinear controller based on a trajectory library. To generate the library, we combine two trajectory optimization methods: a parametric trajectory optimization method that finds coarse initial trajectories and Differential Dynamic Programming (DDP) that further refines these trajectories and generates linear local models of the optimal control laws. To construct a contro...

This paper presents a self-tuning optimal PI (Proportional-Integral) rate controller for end-to-end congestion in the IP-based Internet. We employ LQR (Linear Quadratic Regulator) approach from modern control theory in the optimal controller design that would allow the user to achieve good transient performance of IP networks by selecting proper positive definite matrices Q and R. Self-tuning P...

A hybrid model is designed by combining the genetic algorithm (GA), radial basis function neural network (RBF-NN) and Sugeno fuzzy logic to determine the optimal parameters of a proportional-integralderivative (PID) controller. Our approach used the rule base of the Sugeno fuzzy system and fuzzy PID controller of the automatic voltage regulator (AVR) to improve the system sensitive response. Th...

In this paper, the synchronizability problem of dynamical networks is addressed, where better synchronizability means faster network synchronization with lower vibration. The L2 norm of the error vector e is taken as a performance index to measure this kind of synchronizability. For the equilibrium synchronization case, it is shown that there is a close relationship between the L2 norm of the e...