Taylor & Francis
Systems Science & Control Engineering
Original Item ID
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.
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Wang, Xin; Yaz, Edwin E.; Schneider, Susan C.; and Yaz, Yvonne I., "H2−H∞ Control of Discrete-Time Nonlinear Systems Using the State-Dependent Riccati Equation Approach" (2017). Electrical and Computer Engineering Faculty Research and Publications. 729.
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