Robust linear quadratic designs with respect to parameter uncertaintyThe authors derive a linear quadratic regulator (LQR) which is robust to parametric uncertainty by using the overbounding method of I. R. Petersen and C. V. Hollot (1986). The resulting controller is determined from the solution of a single modified Riccati equation. It is shown that, when applied to a structural system, the controller gains add robustness by minimizing the potential energy of uncertain stiffness elements, and minimizing the rate of dissipation of energy through uncertain damping elements. A worst-case disturbance in the direction of the uncertainty is also considered. It is proved that performance robustness has been increased with the robust LQR when compared to a mismatched LQR design where the controller is designed on the nominal system, but applied to the actual uncertain system.
Document ID
19930038967
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Douglas, Joel (NASA Headquarters Washington, DC United States)
Athans, Michael (MIT Cambridge, MA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 4 (A93-22776 07-63)
Publisher: Institute of Electrical and Electronics Engineers