H2-Optimal Control Synthesis using State Derivative Feedback
In this paper, the derivation of optimal control using state derivative feedback to obtain a new control approach is presented. A control approach similar to linear quadratic regulator (LQR) is applied to find the optimal gain matrices that achieve the desired performance. The effectiveness and robustness of the proposed controller can be shown using the uncertain and under-actuated overhead crane system. The results show that the proposed controller can robustly stabilize the system in the presence of system parameters uncertainty. Further, a more desirable time response specifications can be obtained using state derivative feedback control in comparison to the state feedback control.
- Each author retains the right to use the work for non-commercial purposes and for further research and spoken presentations.
- Each author retains the right to use the illustrations and research data in his/her future work.
- Only one offprint is provided free for each author. The authors can order offprints at the proof stage at certain rates depending on number of additional copies required and the year of publication.
The publisher of the journal has all rights for publication in paper, electronic and facsimile formats and for electronic capture, reproduction and licensing in all formats now and in perpetuity in the original and all derivative works.