Two degree of freedom robust optimal control design using a linear matrix inequality optimization

Chibum Lee; Srinivasa M. Salapaka; Petros G. Voulgaris

doi:10.1109/CDC.2009.5399673

Two degree of freedom robust optimal control design using a linear matrix inequality optimization

Chibum Lee, Srinivasa M. Salapaka, Petros G. Voulgaris

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a new method for the control design for reference tracking in a two degree-of-freedom (2DOF) robust optimal control framework. The main contribution of this paper is formulation of 2DOF multi-objective optimal control problem in terms of linear matrix inequalities. The proposed method enables formulating and solving for a larger set of performance specifications than existing conventional 2DOF designs. This method also provides a platform for implementing mixed-norm optimization problems that model many tracking applications. The theoretical results are corroborated by experiments that apply the proposed control design for a tracking problem on a positioning system.

Original language	English (US)
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	714-719
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399673
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: Dec 15 2009 → Dec 18 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	12/15/09 → 12/18/09

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2009.5399673

Library availability

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Lee, C., Salapaka, S. M., & Voulgaris, P. G. (2009). Two degree of freedom robust optimal control design using a linear matrix inequality optimization. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 714-719). Article 5399673 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399673

Two degree of freedom robust optimal control design using a linear matrix inequality optimization. / Lee, Chibum; Salapaka, Srinivasa M.; Voulgaris, Petros G.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 714-719 5399673 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, C, Salapaka, SM & Voulgaris, PG 2009, Two degree of freedom robust optimal control design using a linear matrix inequality optimization. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399673, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 714-719, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 12/15/09. https://doi.org/10.1109/CDC.2009.5399673

Lee C, Salapaka SM, Voulgaris PG. Two degree of freedom robust optimal control design using a linear matrix inequality optimization. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 714-719. 5399673. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399673

Lee, Chibum ; Salapaka, Srinivasa M. ; Voulgaris, Petros G. / Two degree of freedom robust optimal control design using a linear matrix inequality optimization. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 714-719 (Proceedings of the IEEE Conference on Decision and Control).

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AB - This paper proposes a new method for the control design for reference tracking in a two degree-of-freedom (2DOF) robust optimal control framework. The main contribution of this paper is formulation of 2DOF multi-objective optimal control problem in terms of linear matrix inequalities. The proposed method enables formulating and solving for a larger set of performance specifications than existing conventional 2DOF designs. This method also provides a platform for implementing mixed-norm optimization problems that model many tracking applications. The theoretical results are corroborated by experiments that apply the proposed control design for a tracking problem on a positioning system.

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Two degree of freedom robust optimal control design using a linear matrix inequality optimization

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