Title :
Design of compensation input based on LQ decomposition in N4SID method
Author_Institution :
Tokyo Univ. of Sci., Tokyo
Abstract :
This paper considers a method for designing an exogenous input in order to satisfy output constraints. By employing LQ decomposition in subspace identification methods, we are able to obtain several pairs of input-output sequences. Then we generate a compensation input (the exogenous input) from linear combination of these input sequences. Numerical simulations are carried out to illustrate the effectiveness of the proposed method.
Keywords :
compensation; linear quadratic control; LQ decomposition; N4SID method; input-output sequence; linear quadratic control; subspace identification; Control systems; Design methodology; Industrial control; Motion control; Motion planning; Numerical simulation; Robot control; Service robots; System identification; Vectors; Keywords; LQ decomposition; compensation law; subspace identification;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421416
