A user oriented microcomputer facility for designing linear quadratic Gaussian feedback compensatorsThe paper describes a laboratory design facility for digital microprocessor implementation of Linear-Quadratic-Gaussian feedback compensators. Outputs from user interactive programs for solving infinite time horizon LQ regulator and Kalman filter problems are conditioned for implementation on a laboratory microcomputer system. The software consists of two parts: (1) an off-line high-level program for solving the LQ Ricatti equations and generating associated feedback and filter gains, and (2) a cross compiler/macro assembler which generates object code for the target microprocessor system. Application to the control of a two dimensional inverted pendulum and expanding the design/prototyping system to other target machine architectures are discussed.
Document ID
19800028522
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Houpt, P. K. (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Wahid, J. (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Johnson, T. L. (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Ward, S. A. (MIT Cambridge, Mass., United States)
Date Acquired
August 10, 2013
Publication Date
January 1, 1979
Subject Category
Computer Operations And Hardware
Meeting Information
Meeting: Annual Allerton Conference on Communication, Control and Computing