Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system

Kaushik Halder; Nilanjan Patra; Avijit Routh; Abhro Mukherjee

doi:10.1109/ICCCI.2013.6466157

Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system

Kaushik Halder, Nilanjan Patra, Avijit Routh, Abhro Mukherjee

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes the design of continuous and discrete optimal controller based on Continuous and Discrete time Linear Quadratic Regulator (CLQR and DLQR). The controllers have been implemented in Pneumatically Actuated Inverted Pendulum system which is basically non-linear in nature. The main aim is to design the optimal controllers with the given specification for the system and to study the impact of the weighting matrices on the behavior of the system for both the continuous and discrete. The performances of the controllers both for continuous and discrete system have been compared and evaluated with the presence of disturbance. Simulation studies have been made to show the effectiveness of the controllers for pendulum system. Finally the effects of weighting matrices in the optimal controller to control the pendulum system have been studied.

Original language	English
Title of host publication	2013 International Conference on Computer Communication and Informatics
Publisher	Institute of Electrical and Electronics Engineers
Pages	1-6
Number of pages	6
ISBN (Electronic)	978-1-4673-2907-1
ISBN (Print)	978-1-4673-2906-4
DOIs	https://doi.org/10.1109/ICCCI.2013.6466157
Publication status	Published - 4 Jan 2013
Event	2013 International Conference on Computer Communication and Informatics - Coimbatore, India Duration: 4 Jan 2013 → 6 Jan 2013

Conference

Conference	2013 International Conference on Computer Communication and Informatics
Abbreviated title	ICCCI 2013
Country/Territory	India
City	Coimbatore
Period	4/01/13 → 6/01/13

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10.1109/ICCCI.2013.6466157Licence: All Rights Reserved

https://ieeexplore.ieee.org/document/6466157Licence: All Rights Reserved

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title = "Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system",

abstract = "This paper proposes the design of continuous and discrete optimal controller based on Continuous and Discrete time Linear Quadratic Regulator (CLQR and DLQR). The controllers have been implemented in Pneumatically Actuated Inverted Pendulum system which is basically non-linear in nature. The main aim is to design the optimal controllers with the given specification for the system and to study the impact of the weighting matrices on the behavior of the system for both the continuous and discrete. The performances of the controllers both for continuous and discrete system have been compared and evaluated with the presence of disturbance. Simulation studies have been made to show the effectiveness of the controllers for pendulum system. Finally the effects of weighting matrices in the optimal controller to control the pendulum system have been studied.",

author = "Kaushik Halder and Nilanjan Patra and Avijit Routh and Abhro Mukherjee",

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publisher = "Institute of Electrical and Electronics Engineers",

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note = "2013 International Conference on Computer Communication and Informatics, ICCCI 2013 ; Conference date: 04-01-2013 Through 06-01-2013",

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Halder, K, Patra, N, Routh, A & Mukherjee, A 2013, Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system. in 2013 International Conference on Computer Communication and Informatics. Institute of Electrical and Electronics Engineers, pp. 1-6, 2013 International Conference on Computer Communication and Informatics, Coimbatore, India, 4/01/13. https://doi.org/10.1109/ICCCI.2013.6466157

Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system. / Halder, Kaushik; Patra, Nilanjan; Routh, Avijit et al.
2013 International Conference on Computer Communication and Informatics. Institute of Electrical and Electronics Engineers, 2013. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system

AU - Halder, Kaushik

AU - Patra, Nilanjan

AU - Routh, Avijit

AU - Mukherjee, Abhro

PY - 2013/1/4

Y1 - 2013/1/4

N2 - This paper proposes the design of continuous and discrete optimal controller based on Continuous and Discrete time Linear Quadratic Regulator (CLQR and DLQR). The controllers have been implemented in Pneumatically Actuated Inverted Pendulum system which is basically non-linear in nature. The main aim is to design the optimal controllers with the given specification for the system and to study the impact of the weighting matrices on the behavior of the system for both the continuous and discrete. The performances of the controllers both for continuous and discrete system have been compared and evaluated with the presence of disturbance. Simulation studies have been made to show the effectiveness of the controllers for pendulum system. Finally the effects of weighting matrices in the optimal controller to control the pendulum system have been studied.

AB - This paper proposes the design of continuous and discrete optimal controller based on Continuous and Discrete time Linear Quadratic Regulator (CLQR and DLQR). The controllers have been implemented in Pneumatically Actuated Inverted Pendulum system which is basically non-linear in nature. The main aim is to design the optimal controllers with the given specification for the system and to study the impact of the weighting matrices on the behavior of the system for both the continuous and discrete. The performances of the controllers both for continuous and discrete system have been compared and evaluated with the presence of disturbance. Simulation studies have been made to show the effectiveness of the controllers for pendulum system. Finally the effects of weighting matrices in the optimal controller to control the pendulum system have been studied.

U2 - 10.1109/ICCCI.2013.6466157

DO - 10.1109/ICCCI.2013.6466157

M3 - Conference contribution

SN - 978-1-4673-2906-4

SP - 1

EP - 6

BT - 2013 International Conference on Computer Communication and Informatics

PB - Institute of Electrical and Electronics Engineers

T2 - 2013 International Conference on Computer Communication and Informatics

Y2 - 4 January 2013 through 6 January 2013

ER -

Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system

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