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Closed-form solutions for linear regulator-design of mechanical systems including optimal weighting matrix selectionThis paper addresses the restriction of Linear Quadratic Regulator (LQR) solutions to the algebraic Riccati Equation to design spaces which can be implemented as passive structural members and/or dampers. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical systems. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist. Some examples of simple spring mass systems are shown to illustrate key points.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Hanks, Brantley R.
(NASA Langley Research Center Hampton, VA, United States)
Skelton, Robert E.
(Purdue University West Lafayette, IN, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1991
Subject Category
Report/Patent Number
AIAA PAPER 91-1117
Meeting Information
Meeting: AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference
Location: Baltimore, MD
Country: United States
Start Date: April 8, 1991
End Date: April 10, 1991
Accession Number
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