Real-Time Optimal Control of Flexible Structures Using Subspace Techniques

In this paper, a novel real-time optimal control is designed for a class of embedded flexible structures such as a cantilever beam. The proposed strategy is based on a new recursive subspace identification and receeding horizon optimal control. The proposed recursive strategy can be parameterized in terms of recursive approximation of subspace intersections and adaptive estimation of state sequences. The proposed integrated modeling-control strategy can be implemented, in real-time, with minimum knowledge of the controlled system. Actual hardware experiments using a DSP have been carried out in order to verify the performance of the proposed methodology