controller structure is made by taking a traditional servo mechanism based on Linear Quadratic approach and by augmenting a new state variable to the feed forward loop. Since the controller structure is consists of a standard optimal feedback regulator and a feed forward controller, it is able to enhance the usefulness of resources and to reduce unnecessary memory reservations such as RAM (Rand...

The rocket is the only vehicle that launches the spacecraft in the space. The orientation of the spacecraft in precise position is so crucial. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. Hence, attitude control of the rocket is ...

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...

In this paper the active vibration control of a four-story shear frame instrumented with piezoelectric actuators is presented. The piezoelectric actuators are hosted on the columns in two manners and the produced controlling forces by actuators are considered in the equation of motion. The smart structure modeling and control design is carried out using MATLAB software in state space form. Subs...

Abstract The problem of stabilization of vertical, lateral and longitudinal dynamics for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on a generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust cont...

The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are em...

A controller is developed to balance a two-dimensional walking robot. The equations of motion for the robot, modelled as a double pendulum with pivots at the hip and contact foot, are derived, linearized, and arranged in statespace form. A Linear Quadratic Regulator is developed for the linearized model; its performance simulated using both the linearized and the complete, nonlinear dynamics. T...

An active control strategy for controlling impact response in composite plates is proposed. A linear quadratic regulator (LQR) controller is designed based on a reduced-order model that captures the essential dynamics of the system. Simulations results show that the proposed controller reduces the energy transferred to the structure. Thus, the possibility of impact-induced structural damage is ...

This paper presents a perfect tracking control for discrete-time nonminimum phase of electro-hydraulic servo (EHS) system by adopting a combination of feedback and feedforward controller. A linear-quadratic-regulator (LQR) is firstly design as a feedback controller and a feedforward controller is then proposed to eliminate the phase error emerge by the LQR controller during the tracking control...