Displaying similar documents to “Robust and nonrobust tracking”

Design of predictive LQ controller

Miroslav Fikar, Sebastian Engell, Petr Dostál (1999)

Kybernetika

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A single variable controller is developed in the predictive control framework based upon minimisation of the LQ criterion with infinite output and control horizons. The infinite version of the predictive cost function results in better stability properties of the controller and still enables to incorporate constraints into the control design. The constrained controller consists of two parts: time-invariant nominal LQ controller and time-variant part given by Youla–Kučera parametrisation...

Control error dynamic modification as an efficient tool for reduction of effects introduced by actuator constraints

Krzysztof B. Janiszowski (2009)

International Journal of Applied Mathematics and Computer Science

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A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control...

A deterministic LQ tracking problem: parametrisation of the controller

Ľuboš Čirka, Ján Mikleš, Miroslav Fikar (2002)

Kybernetika

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The article discusses an optimal Linear Quadratic (LQ) deterministic control problem when the Youla–Kučera parametrisation of controller is used. We provide a computational procedure for computing a deterministic optimal single-input single-output (SISO) controller from any stabilising controller. This approach allows us to calculate a new optimal LQ deterministic controller from a previous one when the plant has changed. The design based on the Youla –Kučera parametrisation approach...