Advanced Optimal Feedback Control for Tracking of Real-Life Applications

Calculating the open–loop solution of an optimal control problem is just the first step to cope with the practical realization of real life applications. Feedback controllers, like the classical Linear Quadratic Regulator (LQR), are needed to compensate pertubations appearing in reality. Although these controllers have proven to be a powerful tool in many applications and to be robust enough to countervail most differences between simulation and practice, they are not optimal if disturbances in the system data occur. If these controllers are applied in a real process, the possibility of data disturbances force recomputing the feedback control law in real–time to preserve stability and optimality, at least approximately. For this purpose, variations of the classical closed–loop controller with the extention to a trackingtype controller are analysed by means of an industrial application of container cranes. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)