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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 40174 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Karimi, Houshang; Karimi, Masoud
- Abstract:
- Design of optimal controllers for nonlinear systems and even for linear systems is one of the most important parts of the control science. In optimal controller design, our aim is to maximize or minimize some kind of cost function associated with that particular problem. Such cost functions are usually combining the overall control effort, system’s energy, or some other important specifications of the system. Explicit solution for linear quadratic controllers exists under some mild conditions such as stabilizability of the system. The solution is in the form of a full state-feedback law. But in practical problems, we may not have access to all of the system state variables. The problem can be resolved using a state estimator but such an estimator may compromise the performance and/or the robustness of the closed loop system. In this presentation, we plan to discuss a method for designing an optimal controller based on a subset of the system state variables or some linear combinations of its states (or outputs). We avoid using a state estimator due to its possible problems. The results of our method are compared to the conventional LQR controller plus state estimator and the advantages and weaknesses are discussed. At the end we will expand our method to a family of nonlinear systems and will present a method to optimize the feedback linearizing transformation as well as the state-feedback gains.
- Keywords:
- Nonlinear System ; Linear Systems ; Optimal Controller ; Optimization Method ; Partial State Feedback
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