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A Novel Derivation Methodology for
Polynomial-LQ Controller Desing
Mikael Sternad
and
Anders Ahlén
IEEE Transactions on Automatic Control ,
vol 38, pp 116-121, January 1993. © 1993 IEEE.
Also: Internal Report UPTEC 90058R, Dept. of Technology,
Uppsala University.
Report version available
in Pdf
- Abstract:
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A simple derivation methodology for optimization
of linear quadratic controllers is
presented, in the discrete time polynomial systems framework.
A control law variation, regarded as a
potential feedforward from
the innovations, is used. Orthogonality is
evaluated in the frequency domain,
by collectively cancelling unstable poles by zeros.
The suggested method, summarized
as a three-step scheme,
is exemplified on a disturbance measurement feedforward and a
multivariable LQG
output feedback problem.
It is a simple and more direct alternative to
the ``completing the squares'' approach.
- Related publications:
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Book chapter
with more discussion on feedforward design based on marginally
stable models.
Paper
in IEEE Trans. SP 1991, where the corresponding method is applied
to filter design.
PhD Thesis
by K Öhrn, where the method is used for robust
LQ feedforward control.
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Research
on polynomial methods
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Main
entry in list of publications
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