Universal Control Formula for Feedback Linearizable Systems with Local LQ Performance
Abstract
In this paper, we propose a universal control formula with local LQ performance for feedback linearizable systems. We show the inverse optimality and the gain margin of the proposed controller. The proposed controller provides an easy transformation method from a local LQ controller to the nonlinear inverse optimal controller. The effectiveness of the proposed method is confirmed by computer simulation and experiments of a magnetic levitation system.
- Publication:
-
SICE Journal of Control, Measurement, and System Integration
- Pub Date:
- 2011
- DOI:
- 10.9746/jcmsi.4.22
- Bibcode:
- 2011JCMSI...4...22S
- Keywords:
-
- nonlinear control;
- optimal control;
- control Lyapunov function