DocumentCode
2643811
Title
Design of compensation input based on LQ decomposition in N4SID method
Author
Nitta, Masuhiro
Author_Institution
Tokyo Univ. of Sci., Tokyo
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2530
Lastpage
2534
Abstract
This paper considers a method for designing an exogenous input in order to satisfy output constraints. By employing LQ decomposition in subspace identification methods, we are able to obtain several pairs of input-output sequences. Then we generate a compensation input (the exogenous input) from linear combination of these input sequences. Numerical simulations are carried out to illustrate the effectiveness of the proposed method.
Keywords
compensation; linear quadratic control; LQ decomposition; N4SID method; input-output sequence; linear quadratic control; subspace identification; Control systems; Design methodology; Industrial control; Motion control; Motion planning; Numerical simulation; Robot control; Service robots; System identification; Vectors; Keywords; LQ decomposition; compensation law; subspace identification;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421416
Filename
4421416
Link To Document