Linear Quadratic Regulator (LQR) is an optimal multivariable feedback control approach that minimizes the excursion in state trajectories of a system while requiring minimum controller effort. The behaviour of a LQR controller is determined by two parameters: state and control weighting matrices. These two matrices are main design parameters to be selected by designer and greatly influence the ...

This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...

This paper presents coordinated compensation schemes between active and semi-active actuators in suspension control system. Generally systems, have been adopted to generate a force calculated by controller. However, actual vehicles physical constraints such as maximum force, bandwidth force-velocity limitation. On the other hand, actuator can be good alternative one view of despite it cannot an...

This paper discusses the concurrent design of a feedforward time-delay filter and a linear state feed-back controller. The optimization is carried out using a quadratic cost functional which weights both, disturbance rejection and control tracking performance. A minimax optimization scheme is employed to achieve robustness with respect to parameter deviations. Analytical gradients are provided ...

Penelitian ini membahas penerapan metode Regulator Kuadratik Linier (LQR) pada sistem kendali optimal. LQR menggunakan kombinasi linier dari state plant untuk melakukan proses kontrol, sehingga memerlukan semua dalam yang tersedia diukur atau diakses. Namun, jika beberapa tidak dapat diukur, mengestimasi state-state tersebut berdasarkan model dan keluaran diukur. berfokus perancangan pengendali...

Algorithms for the synthesis of adaptive-modal controllers objects with control lag under conditions a priori uncertainty and non-stationarity their parameters are presented. For accurate estimation state vector an object delay, convergence is required. The choice adaptive algorithms that ensure achievement identification goal made. To find controller, second Lyapunov method used in form quadra...