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LQR and predictive control tuned via BDU

100%

Ramos C. , Sanchis J. , Martinez M. , Herrero J. M.

tom Vol. 31, no 1

15-25

This work presents the BDU technique (Bounded Data Uncertainties) and the tuning of the linear quadratic regulator (LQR) via this technique, which considers models with bounded uncertainties. The BDU method is based on constrained game-type formulations, and allows the designer to explicitly incorporate a priori information about bounds on the sizes of the uncertainties into the problem statement. Thus, on the one hand, the uncertainty effect is not over-emphasized, avoiding an overly conservative design and, on the other hand, the uncertainty effect is not under-emphasized, avoiding an overly sensitive to errors design. A feature of this technique consists of its geometric interpretation. The structure of the paper is the following, in the first section, some problems about the least-squares method in the presence of uncertainty are introduced. The BDU technique is shown in the second section and the LQR controller in the third. After that a new guided way of tuning the LQR is offered, taking into account the uncertainties bounds via the BDU. The consequence of this method is that both recursive and algebraic Riccati equations are modified. Finally, some examples are shown and the main conclusions and future work are commented.

LQR controller design for mini motion package electro-hydraulic actuator control

86%

Tan N. V. , Tran H. Q. , Hung P. V. , Phu H. M.

tom Vol. 27

81--86

Electro-hydraulic actuators have been widely applied in the industry because they have several major advantages. In this paper, we focused on controlling the mini motion package electro-hydraulics actuator. First, a mathematical model of the electro-hydraulic actuator (EHA) was implemented to apply the control process to the proposed system. Second, we applied the linear quadratic regulator (LQR) controller to a linear model that is converted from the nonlinear EHA system. Finally, the numerical simulation results were performed in which the results obtained from the LQR controller were compared with the PID controller to show the superiority of the proposed solution.

LQR controller with an integral action for Z-source DC-DC converter

86%

Debbat M. , Salem M. , Bachir-Bouiadjra R.

2019

tom R. 95, nr 9

89--93

This paper presents a robust linear quadratic regulator with an integral action (LQR+i) designed for Z-source DC-DC converter (ZSC) operating in conduction continuous mode (CCM). Depending on converter’s commutation states and using the electrical equivalent circuits, both switched and small-signal models of ZSC are built. The design procedure of LQR + i controller is described. The robustness of the controller is tested, using Matlab/Simulink software, considering circuit parameter (source and load) uncertainties and external signal (reference voltage) disturbance. A comparison study with classical PI controller are performed. It has been shown that the robustness of LQR + i controller is better than classical PI controller.

W artykule zaprezentowano liniowy, kwadraturowy sterownik w włączonym LQR zaprojektowany do przekształtników DC-DC ze źródłem Z. Odporność kontrolera była testowania przy wykorzystaniu programu Matlab/Simulink. Porównano sterownik z klasycznym układem PI.