Title :
Decoupling control of a mechanical system with limiting properties of LQR and its applications
Author :
Suzuki, R. ; Fujita, M. ; Kobayashi, N. ; Kawashima, M.
Author_Institution :
Sch. of Inf. Sci., Adv. Inst. of Sci. & Technol., Ishikawa, Japan
Abstract :
A decoupling control for a non-minimum phase system is considered from a limiting form of linear-quadratic-regulator (LQR) problem point of view. An explicit relationship between the limiting properties by letting the weighting matrix of the output vector tend to infinity and a decoupling control is shown. We also give an experimental application to a mechanical system to illustrate the effectiveness of the decoupling control with limiting properties
Keywords :
control system analysis; linear quadratic control; linear systems; matrix algebra; decoupling control; limiting properties; linear time invariant systems; linear-quadratic control; mechanical system; nonminimum phase system; optimal control; output vector; weighting matrix; Control systems; Discrete time systems; Feedback; H infinity control; Information science; Mechanical factors; Mechanical systems; Optimal control; Regulators; Riccati equations;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721573
