Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design
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| Title: | Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design |
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| Authors: | Danielle Gontijo, José Mário Araújo, Luciano Frezzato, Fernando de Oliveira Souza |
| Publisher Information: | MDPI AG, 2024. |
| Publication Year: | 2024 |
| Description: | 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. |
| Document Type: | Article |
| DOI: | 10.20944/preprints202405.0526.v1 |
| Rights: | CC BY |
| Accession Number: | edsair.doi...........957e5a2ec61ca80bcd6b9f77897ffa68 |
| Database: | OpenAIRE |
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