A novel H2–H∞ State Dependent Riccati Equation control approach is presented for providing a generalized control framework to discrete time nonlinear system. By solving a generalized Riccati Equation at each time step, the nonlinear state feedback control solution is found to satisfy mixed performance criteria guaranteeing quadratic optimality with inherent stability property in combination with H∞ type of disturbance attenuation. Two numerical techniques to compute the solution of the resulting Riccati equation are presented: The first one is based on finding the steady state solution of the difference equation at every step and the second one is based on finding the minimum solution of a linear matrix inequality. The effectiveness of the proposed techniques is demonstrated by simulations involving the control of an inverted pendulum on a cart, a benchmark mechanical system.
- Dynamic Systems and Control Division
H2- H∞ Control of Discrete Time Nonlinear Systems Using the SDRE Approach
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Wang, X, Yaz, EE, Schneider, SC, & Yaz, YI. "H2-H∞ Control of Discrete Time Nonlinear Systems Using the SDRE Approach." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 565-572. ASME. https://doi.org/10.1115/DSCC2011-5935
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