An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form rep...

Reinforcement learning (RL) has been successfully used to solve many continuous control tasks. Despite its impressive results however, fundamental questions regarding the sample complexity of RL on continuous problems remain open. We study the performance of RL in this setting by considering the behavior of the Least-Squares Temporal Difference (LSTD) estimator on the classic Linear Quadratic R...

In this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the cheap control problem. This methodology employs an algebraic equation with parametric coefficients for the systems with s...

In this paper, a mathematical model of flexible single link robotic manipulator that has a rotational base and translational motion has been developed using lagrangian method. The control strategies like PID, LQR and State feedback controller have been implemented for controlling the tip position of flexible single link robotic manipulators through MATLAB. State feedback controller uses pole pl...

This paper addresses linear quadratic regulation (LQR) for variable speed variable pitch wind turbines. Because of the inherent nonlinearity of wind turbine, a set of operating conditions is identified and then a LQR controller is designed for each operating point. The feedback controller gains are then interpolated linearly to get control law for the entire operating region. Besides, the aerod...

In this article, we discuss the design and implementation of a receding horizon control (RHC) which will be used to represent the control for the baroreceptor loop in the human cardiovascular system (CVS). This control will be applied to a model of the CVS developed in a previous work by Kappel and Peer. In that earlier work, a linear quadratic control strategy (LQR) was implemented to represen...

Design of power system stabilizer using Linear Quadratic Regulator (LQR) technique. Designs that ignore noise in a plant are likely to fail when implemented in actual conditions. Presence of the noise, which results in LQR output oscillating with very small magnitude. This type of unwanted noisy output is eliminated using Linear Quadratic Gaussian (LQG) Regulator. This paper presents techniques...

Wide-area control (WAC) has been shown to be an effective tool for damping low-frequency oscillations in power systems. In the current state of art, WAC is challenged by two main factors namely, scalability of design and complexity of implementation. In this paper we present a control design called control inversion that bypasses both of these challenges using the idea of clustering. The basic ...

This paper studies longitudinal vehicle following problem, where two control strategies i.e. LQR optimal synthesis and a novel quasi-linear controller are adopted for a linearized vehicle model. In case of LQR, the results are enhanced by inclusion of a minimum order state observer and a feed-forward controller. Since the dynamics of the feedback linearized system correspond to a certain class ...

In this paper we analyze a locking-free numerical scheme for the LQR control of a Timoshenko beam. We consider a non-conforming finite element discretization of the system dynamics and a control law constant in the spatial dimension. To solve the LQR problem we seek a feedback control which depends on the solution of an algebraic Riccati equation. An optimal error estimate for the feedback oper...