State Estimation with Reduced-Order Observer and Adaptive-LQR Control of Time Varying Linear System
Keywords:Adaptation mechanism, Lyapunov method, Reduced-order observer, Time varying linear system
In this study, a new controller design was created to increase the control performance of a variable loaded time varying linear system. For this purpose, a state estimation with reduced order observer and adaptive-LQR (Linear–Quadratic Regulator) control structure was offered. Initially, to estimate the states of the system, a reduced-order observer was designed and used with LQR control method that is one of the optimal control techniques in the servo system with initial load. Subsequently, a Lyapunov-based adaptation mechanism was added to the LQR control to provide optimal control for varying loads as a new approach in design. Thus, it was aimed to eliminate the variable load effects and to increase the stability of the system. In order to demonstrate the effectiveness of the proposed method, a variable loaded rotary servo system was modelled as a time-varying linear system and used in simulations in Matlab-Simulink environment. Based on the simulation results and performance measurements, it was observed that the proposed method increases the system performance and stability by minimizing variable load effect.
How to Cite
Authors retain copyright and grant the journal the right of the first publication with the paper simultaneously licensed under the Creative Commons Attribution 4.0 (CC BY 4.0) licence.
Authors are allowed to enter into separate, additional contractual arrangements for the non-exclusive distribution of the paper published in the journal with an acknowledgement of the initial publication in the journal.
Copyright terms are indicated in the Republic of Lithuania Law on Copyright and Related Rights, Articles 4-37.