A design of servo controller with SDRE for nonlinear systems

Author

Terashima, Satoru ; Iwase, Masami ; Furuta, Katsuhisa ; Suzuki, Satoshi ; Hatakeyama, Shoshiro

Author_Institution

Graduate Sch. of Syst. Eng., Tokyo Denki Univ., Saitama, Japan

Volume

5

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

3056

Abstract

In this paper, we propose a new servo controller design method for nonlinear systems, which can be considered as an extended version of the Smith-Davison type servo controller. The control input of the controller is given by computing the Riccati equation dependent on the state, which is called the SDRE (state dependent Riccati equation), repeatedly at each sampling time. A nonlinear optimal control law by solving the SDRE was proposed by Cloutier et al.(1996) to stabilize nonlinear systems. To verify the effectiveness of the approach, we show a numerical example where the swing-up and stabilizing control for a rotational type pendulum is designed.

Keywords

Riccati equations; control system synthesis; nonlinear control systems; optimal control; pendulums; servomechanisms; SDRE; Smith-Davison type servo controller; control input; nonlinear optimal control law; nonlinear systems; numerical example; rotational type pendulum; servo controller design; stabilizing control; state dependent Riccati equation; swing-up control; Control systems; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Optimal control; Riccati equations; Sampling methods; Servomechanisms; Signal design;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1195594

Filename

1195594