MIXED LQR/H-INFINITY CONTROLLER DESIGN FOR UNCERTAIN MULTIVARIABLE SYSTEMS

In this paper, the design of mixed LQR/H-infinity controller for uncertain multivariable systems is presented. The Particle Swarm Optimization (PSO) method is used to obtain the optimal values of the state feedback gains subject to a proposed cost function. The proposed cost function is a combination of LQR and H-infinity constraints. This controller can effectively compensate the multivariable linear systems with the presence of uncertainty. To show the effectiveness of the proposed controller, a controlled vibration absorber is considered as a case study for multivariable systems. The results show that the proposed mixed LQR/H-infinity controller can achieve a desirable time response specifications in the presence of system parameter uncertainty with automatic and optimal tuning of LQR weighting matrices.