Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG

Author

Ching, ShiNung ; Kabamba, Pierre T. ; Meerkov, Semyon M.

Author_Institution

Dept. of Brain & Cognitive Sci., Massachusetts Inst. of Technol., Cambridge, MA, USA

Volume

55

Issue

1

fYear

2010

Firstpage

217

Lastpage

221

Abstract

The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.

Keywords

control nonlinearities; control system synthesis; control systems; controllers; feedback; instrumentation; actuators; deadzone; feedback control system; instrumentation; nonlinearities; optimal controllers; quantization; sensors; standard synthesis technique; Automatic control; Communication system control; Control system synthesis; Control systems; Design methodology; Equations; Hydraulic actuators; Induction machines; Induction motors; Instruments; Linear feedback control systems; Optimal control; Performance analysis; Quantization; Sensor systems; Sensorless control; Linear plant/nonlinear instrumentation (LPNI);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2009.2033879

Filename

5340608