Matlab/Octave toolbox for structurable and robust output-feedback LQR design
Paper in proceeding, 2018

In this paper, a structurable robust output-feedback infinite horizon LQR design toolbox for Matlab and Octave is introduced. The aim of the presented toolbox is to fill the gap between available toolboxes for Matlab/Octave by extending the standard infinite horizon LQR design (from Matlab/Control System Toolbox, Octave/Control package) to robust and structurable output-feedback LQR design. The toolbox allows to design a robust infinite horizon output-feedback controller in forms like proportional (P), proportional-integral (PI), realizable proportional-integral-derivative (PID), realizable proportional-derivative (PD), realizable derivative (D), dynamic output-feedback (DOF), dynamic output-feedback with integral part (DOFI), dynamic output-feedback with integral and realizable derivative part (DOFID), and dynamic output-feedback with realizable derivative part (DOFD). In addition, the controller structure for all supported controller types is fully structurable. The toolbox relies on Yalmip (A Matlab/Octave Toolbox for Modeling and Optimization) and on linear matrix inequality solvers like SeDuMi, SDPT3, etc. Notions like "simple", "highly customizable", and "user-friendly" have been used and considered as main terms during the development process.

Robust control

Structured controller.

Linear quadratic regulator

Output-feedback

Author

Adrian Ilka

Chalmers, Electrical Engineering, Systems and control

IFAC-PapersOnLine

24058971 (ISSN) 24058963 (eISSN)

Vol. 51 4 598-603

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control
Ghent, Belgium,

Multi-CORE - Multi-level COntrol for Robust integrated vehicle Energy management

Swedish Energy Agency (P43322-1), 2016-12-01 -- 2019-12-31.

IMPERIUM - Implementation of powertrain control for economic and clean real driving emission and fuel consumption

European Commission (EC) (EC/H2020/713783), 2016-09-01 -- 2019-08-31.

Subject Categories

Aerospace Engineering

Control Engineering

Other Electrical Engineering, Electronic Engineering, Information Engineering

DOI

10.1016/j.ifacol.2018.06.161

More information

Latest update

3/21/2023