Title :
Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG
Author :
Ching, ShiNung ; Kabamba, Pierre T. ; Meerkov, Semyon M.
Author_Institution :
Dept. of Brain & Cognitive Sci., Massachusetts Inst. of Technol., Cambridge, MA, USA
Abstract :
The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.
Keywords :
control nonlinearities; control system synthesis; control systems; controllers; feedback; instrumentation; actuators; deadzone; feedback control system; instrumentation; nonlinearities; optimal controllers; quantization; sensors; standard synthesis technique; Automatic control; Communication system control; Control system synthesis; Control systems; Design methodology; Equations; Hydraulic actuators; Induction machines; Induction motors; Instruments; Linear feedback control systems; Optimal control; Performance analysis; Quantization; Sensor systems; Sensorless control; Linear plant/nonlinear instrumentation (LPNI);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2033879
