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Advanced Optimal Feedback Control for Tracking of Real‐Life Applications
Author(s) -
Stach Ramona,
Büskens Christof,
Tietjen Jan
Publication year - 2008
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200810867
Subject(s) - control theory (sociology) , linear quadratic regulator , realization (probability) , controller (irrigation) , computer science , optimal control , process (computing) , control engineering , feedback control , stability (learning theory) , control (management) , open loop controller , tracking (education) , feedback loop , closed loop , engineering , mathematics , mathematical optimization , artificial intelligence , psychology , pedagogy , statistics , machine learning , agronomy , biology , operating system , computer security
Abstract Calculating the open–loop solution of an optimal control problem is just the first step to cope with the practical realization of real life applications. Feedback controllers, like the classical Linear Quadratic Regulator (LQR), are needed to compensate pertubations appearing in reality. Although these controllers have proven to be a powerful tool in many applications and to be robust enough to countervail most differences between simulation and practice, they are not optimal if disturbances in the system data occur. If these controllers are applied in a real process, the possibility of data disturbances force recomputing the feedback control law in real–time to preserve stability and optimality, at least approximately. For this purpose, variations of the classical closed–loop controller with the extention to a trackingtype controller are analysed by means of an industrial application of container cranes. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)