Title :
Nonlinear H∞ control: practicality of implementing the cheap sensor case
Author :
Helton, J.W. ; James, M.R. ; McEneaney, W.M.
Author_Institution :
Dept. of Math., California Univ., San Diego, CA, USA
Abstract :
We previously (J.W. Helton and M.R. James, 1999) introduced a recipe for nonlinear H∞ controllers which takes advantage of extra perfect measurements and stated a theorem to the effect that this controller yielded the best possible "H∞ " performance. Pure state feedback is an extreme situation and we treated cases where all but a few states are measured perfectly. In this article we analyze the computational complexity of the online part of the H∞ controller described previously. This has important practical implications. Our conclusion is that under reasonable circumstances when the number of unknown states is less than or equal to 2 and the total number of states is less than or equal to 12 the online portion of the recipe with a 1 GHz PC produces about 100 controller updates per second
Keywords :
H∞ control; computational complexity; control system analysis computing; nonlinear control systems; real-time systems; state feedback; H∞ control; computational complexity; nonlinear control systems; real time systems; state feedback; Frequency; Linear feedback control systems; Nonlinear control systems; Nonlinear equations; Nonlinear filters; Riccati equations; Robust control; State feedback; State-space methods; Terminology;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980688
