Matlab/Octave toolbox for structurable and robust output-feedback LQR design

被引：11

作者：

Ilka, Adrian ^{[1
]}

机构：

[1] Chalmers Univ Technol, Dept Elect Engn, Horsalsvagen 9-11, SE-41296 Gothenburg, Sweden

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 04期

基金：

欧盟地平线“2020”;

关键词：

Linear quadratic regulator; Robust control; Output-feedback; Structured controller; SCHEDULED CONTROLLER-DESIGN; SYSTEMS;

D O I：

10.1016/j.ifacol.2018.06.161

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a structurable robust output-feedback infinite horizon LQR design toolbox for Matlab and Octave is introduced. The aim of the presented toolbox is to fill the gap between available toolboxes for Matlab/Octave by extending the standard infinite horizon LQR design (from Matlab/Control System Toolbox, Octave/Control package) to robust and structurable output-feedback LQR design. The toolbox allows to design a robust infinite horizon output-feedback controller in forms like proportional (P), proportional-integral (PI), realizable proportional-integral-derivative (PID), realizable proportional-derivative (PD), realizable derivative (D), dynamic output-feedback (DOF), dynamic output-feedback with integral part (DOFI), dynamic output-feedback with integral and realizable derivative part (DOFID), and dynamic output-feedback with realizable derivative part (DOFD). In addition, the controller structure for all supported controller types is fully structurable. The toolbox relies on Yalmip (A Matlab/Octave Toolbox for Modeling and Optimization) and on linear matrix inequality solvers like SeDuMi, SDPT3, etc. Notions like "simple", "highly customizable", and "user-friendly" have been used and considered as main terms during the development process. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：598 / 603

页数：6

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