The results in this chapter relate to well-known linear systemLinear systems control laws. It is important to establish this type of link to demonstrate the credibility of the nonlinear controllers presented. An optimization problem is first constructed for a nonlinear systemLinear systems that is shown to provide an LQG controller when the plant is actually linear. The second problem is related, but it involves H cost-minimization. The examples illustrate the difference in the computations required for the two algorithms and the type of behaviour on nonlinear systems. The important lesson is to choose the most suitable control law for a problem that may be dominated by stochastic disturbancesStochastic disturbances or influenced by plant model uncertainties. Even for cases where by careful tuning very similar results can be achieved, it can be very beneficial to have a design method that seems natural for the type of physical system involved.


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    Title :

    Nonlinear Quadratic Gaussian and H Robust Control


    Contributors:

    Published in:

    Publication date :

    2020-05-20


    Size :

    44 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English