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Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design

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Název:	Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design
Autoři:	Danielle Gontijo, José Mário Araújo, Luciano Frezzato, Fernando de Oliveira Souza
Informace o vydavateli:	MDPI AG, 2024.
Rok vydání:	2024
Popis:	This paper presents an observer-based dynamic output feedback controller design procedure using Linear Matrix Inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic criteria, cost functions are minimized in a two-stage procedure to compute optimal state feedback gains, and observer gains are coupled into a dynamic output feedback optimal controller. The LMI set used in the two stages is matrix inversion-free, a key issue for polytope formulation when uncertainty is present. The approach is tested in a mobile inverted pendulum robotic platform, and the effectiveness is verified in this underactuated and undesensed case.
Druh dokumentu:	Article
DOI:	10.20944/preprints202405.0526.v1
Rights:	CC BY
Přístupové číslo:	edsair.doi...........957e5a2ec61ca80bcd6b9f77897ffa68
Databáze:	OpenAIRE

Popis
Abstrakt:	This paper presents an observer-based dynamic output feedback controller design procedure using Linear Matrix Inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic criteria, cost functions are minimized in a two-stage procedure to compute optimal state feedback gains, and observer gains are coupled into a dynamic output feedback optimal controller. The LMI set used in the two stages is matrix inversion-free, a key issue for polytope formulation when uncertainty is present. The approach is tested in a mobile inverted pendulum robotic platform, and the effectiveness is verified in this underactuated and undesensed case.
DOI:	10.20944/preprints202405.0526.v1