Disturbance-observer-based LQR control of singularly perturbed systems via recursive decoupling methods. Issue 4 (12th March 2019)

• Record Type: Journal Article
• Authors: Xu, Jing; Niu, Yugang
• Is Part Of: International journal of systems science. Volume 50:Issue 4(2019)
• Page Start: 764
• Page End: 776
• Publication Date: 2019-03-12
• Subjects: Disturbance observer -- iterative algorithm -- LQR control -- singularly perturbed systems; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2019.1568608
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: This paper addresses the disturbance-observer-based linear quadratic regulation (LQR) problem of singularly perturbed systems subject to harmonic disturbances. To reduce the computational burden and facilitate the on-board implementation, a recursive matrix decoupling method is proposed to decompose the stiff singularly perturbed model into the block-diagonal form. Then, a robust LQR controller is designed based on the equivalent decoupled system, which consists of a state feedback controller for performance optimisation and a robust controller for disturbance compensation. Moreover, the designed controller is integrated with a finite frequency disturbance observer to attenuate the effect of harmonic disturbances. Finally, a simulation example on a DC motor system is provided to verify the effectiveness of the proposed design method.