Error minimizing linear regulation for discrete-time systems

This paper presents error minimizing linear regulator (EMLR) for discrete-time, time invariant linear systems. The control objective is tracking of reference signal and rejection of disturbances. EMLR design is based on minimization of a quadratic cost function using canonical form of plant model. The proposed control scheme is based on analytical solution applicable for arbitrary initial conditions. In addition, the control design does not require formulation of Linear Matrix Inequalities and Riccati equations, which are otherwise typical requirements of regulators. Stability analysis of the closed loop system using EMLR is presented along with simulation results for regulation of discretized model of underactuated fourth-order ball and beam system.