Displaying similar documents to “Selftuning LQ controllers with prespecified state”

Nonlinear controller design of a ship autopilot

Mirosław Tomera (2010)

International Journal of Applied Mathematics and Computer Science

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The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function...

Optimal multivariable PID regulator

Jiří Mošna, Pavel Pešek (2000)

Kybernetika

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A continuous version of optimal LQG design under presence of Wiener disturbances is solved for MIMO controlled plant. Traditional design tools fail to solve this problem due to unstability of the augmented plant. A class of all optimality criteria, which guarantee existence of an asymptotical solution, is defined using a plant deviation model. This class is utilized in design of an optimal state and an error feedback regulator which is presented here. The resultant optimal error regulator...

Self-tuning controllers based on orthonormal functions

Jozef Hejdiš, Štefan Kozák, Ľubica Juráčková (2000)

Kybernetika

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Problems of the system identification using orthonormal functions are discussed and algorithms of computing parameters of the discrete time state- space model of the plant based on the generalized orthonormal functions and the Laguerre functions are derived. The adaptive LQ regulator and the predictive controller based on the Laguerre function model are also presented. The stability and the robustness of the closed loop using the predictive controller are investigated.