Design of a Controller and Observer for Class of Nonlinear Systems Using Linear Quadratic Regulator (LQR) with Integral Control /
تصميم متحكم ومراقب لنوع من الانظمة اللاخطية باستخدام المنظم التربيعى الخطى مع منظم تكاملى
Ahmed Mohammed Hamza ; Supervised Ahmed Bahgat , Hassan Mohamed Rashad
- Cairo : Ahmed Mohammed Hamza , 2006
- 112P : ill ; 30cm
Thesis (M.Sc.) - Cairo University - Faculty Of Engineering - Department Of Electrical Power and Machines
The studies of the nonlinear systems are very multiple , and how to control them by the linear and the nonlinear methodsThe study in this thesis will show many methods of the linear control in class of the nonlinear system Compare Adjusting the Reference Input Gain for Zero Steady State error (SSe) , with the Integral Control This work is broken up into two components The first part involves performance of both techniques with Linear Quadratic Regulator and Pole placement The second part investigates the overall performance on a standard benchmark problem Inverted Pendulum (IP) The balancing of an inverted pendulum by moving a cart along a horizontal trackThis thesis will describe method to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state Energy controllers have been implemented in order to swing the pendulum to an upright positionAfter the pendulum is swung up , a linear quadratic regulator state feedback , pole placement and integral control The energy controller adds an appropriate amount of energy into the pendulum system in order to achieve a desired energy stateThe (LQR , pole placement and integral control) are a stabilizing controller based on a model linearized around the upright position and is effective when the cart - pendulum system is near the balanced stateThe pendulum has been swung from the downwards position to the upright position using both methods and the simulation results are reported