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LQGi/LTR controller with integrators and feedforward controller applied to a Twin Rotor MIMO System

Senoussaoui Abderrahmane, Chenafa Mohammed, Sahraoui Mustapha, Kacimi Abderrahmene, Houcine Rachida

Przegląd Elektrotechniczny

2021

R. 97, nr 4

48--53

This paper presents a comparison between LQGi and LQGi/LTR control of a Twin Rotor MIMO System (TRMS)(made by feedback instrument company). The Linear Quadratic Gaussian (LQG) means a linear quadratic regulator with KALMAN filter. LQG/LTR is an LQG controller with Loop Transfer Recovery. For both we introduced an integrator to deal with steady state errors and disturbances. A feed forward controller has been added to improve the tracking performances of the system. The results are in simulation and in real time.

Przedstawiono porównanie sterowania LQG I LQG/LYR systemu MIMO z dwoama wirnikami TRMS. W sterowaniu LQG wykorzystano filtr Kalmana. Dodatkowo wprowadzono układ całkujący oraz sterownik typu feed forward. Sterowanie analizowano przez symulacje oraz eksperymentalnie.

LQG/LTR control of input-delayed discrete-time systems

Horla D., Krolikowski A.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2019

Vol. 67, nr 6

1049--1058

A simple robust cheap LQG control is considered for discrete-time systems with constant input delay. It is well known that the full loop transfer recovery (LTR) effect measured by error function ∆(z) can only be obtained for minimum-phase (MPH) systems without time-de-lay. Explicit analytical expressions for ∆(z) versus delay d are derived for both MPH and NMPH (nonminimum-phase) systems. Obviously, introducing delay deteriorates the LTR effect. In this context the ARMAX system as a simple example of noise-correlated system is examined. The robustness of LQG/LTR control is analyzed and compared with state prediction control whose robust stability is formulated via LMI. Also, the robustness with respect to uncertain time-delay is considered including the control systems which are unstable in open-loop. An analysis of LQG/LTR problem for noise-correlated systems, particularly for ARMAX system, is included and the case of proper systems is analyzed. Computer simulations of second-order systems with constant time-delay are given to illustrate the performance and recovery error for considered systems and controllers.