Scaling the speed of response using LQR design

Author

Larsson, P. Tomas ; Ulsoy, A. Galip

Author_Institution

Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA

Volume

1

fYear

1998

fDate

1998

Firstpage

1171

Abstract

Linear quadratic regulator (LQR) design is a widely used method for controller design based on finding the state feedback gain K that minimizes a quadratic cost function. However, one usually has to do an iterative design procedure to find the right choice of weights. A general guideline for how to adjust the gain is that one should reduce the weight on the control effort if one wishes to make the closed loop system faster. But by adjusting the weight on the control alone, one will not only change the response time for the system, but will also change the qualitative behavior of the response. In this paper we present a method for adjusting the weight on the states as a function of the weight on the control for SISO systems such that only the speed of response changes without changing the qualitative behavior of the closed loop system. This can significantly reduce the number of iterations one has to do to obtain a satisfactory design

Keywords

closed loop systems; control system synthesis; iterative methods; linear quadratic control; poles and zeros; state feedback; LQR design; SISO systems; closed loop system; iterative method; linear quadratic regulator; quadratic cost function; state feedback; zeros; Closed loop systems; Control systems; Cost function; Delay; Design methodology; Guidelines; Linear feedback control systems; Regulators; State feedback; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.760857

Filename

760857