Optimal output regulation on sample-data systems

An optimal sampled data output regulation is considered. The discrete time controller is designed under the assumption that the solution of the discrete time regulator equation exist. The control law that ensures the output regulation has been designed on the basis of linear quadratic gaussian (LQG) approach. Discretization of the plant and exogenous system is achieved through zero order hold equivalence. The proposed scheme ensures the optimal regulation (tracking) in the presence of the external disturbance under the influence that the complete knowledge of the disturbance is known. For measuring the effectiveness of the above controller, computer simulations performed on inverted pendulum control system. A comparison has also been drawn between the continuous time control scheme and corresponding discrete time scheme. Simulation demonstrate that the cost function weighting parameters play an important role in system characteristic.