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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 40887 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Mobed, Mohammad
- Abstract:
- The LQG theory made its appearance in the fifties and sixties. It has now become one of the standard methods for compensator design. Despite the existing powerful tools in modern control, there seems to be few or no systematic approaches proposed for determining the weighting and root matrices which are the free parameters of the compensator. These matrices are often found by trial-and-error. Initially, this thesis presents an iterative algorithm for determining the compensator parameters. The algorithm is based upon making corrections to the singular values graphs in order to enhance closed-loop performance and robustness. This is how the traditional intuitive trial-and-error approach is replaced by a specific algorithm. Then, three different methods are proposed for designing the LQG compensator to meet time-domain criteria such as overshoot and settling time. The methods are reduced to convex programming and LMI problems. It is shown that if the weighting and root matrices satisfy certain conditions, the design process will result in a closed-loop system that can follow a step command with acceptable overshoot. In the end, the weighting and root matrices are determined using LMI tools in such a way as to simultaneously guarantee both compensator stability and closed-loop robustness.
Each chapter ends with a simulation example.
- Keywords:
- Riccati Equation ; Efficiency ; Linear Matrix Inequality (LMI) ; EFFICIENCY ; Robustness ; Linear Quadratic Gaussian (LQG)Controller
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