Version 1
: Received: 8 May 2024 / Approved: 8 May 2024 / Online: 9 May 2024 (09:02:08 CEST)
How to cite:
Gontijo, D.; Araújo, J. M.; Frezzato, L.; Souza, F. D. O. Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design. Preprints2024, 2024050526. https://doi.org/10.20944/preprints202405.0526.v1
Gontijo, D.; Araújo, J. M.; Frezzato, L.; Souza, F. D. O. Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design. Preprints 2024, 2024050526. https://doi.org/10.20944/preprints202405.0526.v1
Gontijo, D.; Araújo, J. M.; Frezzato, L.; Souza, F. D. O. Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design. Preprints2024, 2024050526. https://doi.org/10.20944/preprints202405.0526.v1
APA Style
Gontijo, D., Araújo, J. M., Frezzato, L., & Souza, F. D. O. (2024). Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design. Preprints. https://doi.org/10.20944/preprints202405.0526.v1
Chicago/Turabian Style
Gontijo, D., Luciano Frezzato and Fernando de Oliveira Souza. 2024 "Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with LMI Design" Preprints. https://doi.org/10.20944/preprints202405.0526.v1
Abstract
This paper presents an observer-based dynamic output feedback controller design procedure using Linear Matrix Inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic criteria, cost functions are minimized in a two-stage procedure to compute optimal state feedback gains, and observer gains are coupled into a dynamic output feedback optimal controller. The LMI set used in the two stages is matrix inversion-free, a key issue for polytope formulation when uncertainty is present. The approach is tested in a mobile inverted pendulum robotic platform, and the effectiveness is verified in this underactuated and undesensed case.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.