Robust Output Tracking Control of an Uncertain Linear System via a Modified Optimal Linear-Quadratic Method |
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| Authors: | Shieh NC Liang KZ Mao CJ |
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| Institution: | (1) Technology and Engineering Development Section, Second Division, Chung-Shan Institute of Science and Technology, Lung-Tan, Taiwan, ROC;(2) Department of Mechanical Engineering, Ching-Yun Institute of Technology, Chung-Li, Taiwan, ROC;(3) Department of Electrical Engineering, Southern Taiwan University of Technology, Taiwan, Taiwan, ROC |
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| Abstract: | This study investigates the robust output tracking problem for a class of uncertain linear systems. The uncertainties are assumed to be time invariant and to satisfy the matching conditions. According to the selected nominal parameters, an optimal solution with a prescribed degree of stability is determined. Then, an auxiliary input via the use of an adapting factor, connected to the nominal optimal control, is introduced to guarantee the robustness and prescribed degree of stability for the output tracking control of the uncertain linear systems. This method is very simple and effective and can reject bounded uncertainties imposed on the states. A maglev vehicle model example is given to show its effectiveness. |
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| Keywords: | Optimal linear-quadratic control uncertain linear systems output tracking control matching conditions maglev vehicle model |
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